6.565 * [progress]: [Phase 1 of 3] Setting up. 0.002 * * * [progress]: [1/2] Preparing points 0.158 * * * [progress]: [2/2] Setting up program. 0.163 * [progress]: [Phase 2 of 3] Improving. 0.163 * [simplify]: Simplifying: (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) 0.163 * * [simplify]: Extracting # 0 : cost 0 0.163 * * [simplify]: Extracting # 1 : cost 0 0.163 * * [simplify]: Extracting # 2 : cost 0 0.163 * * [simplify]: Extracting # 3 : cost 0 0.163 * * [simplify]: Extracting # 4 : cost 0 0.163 * * [simplify]: Extracting # 5 : cost 0 0.163 * * [simplify]: Extracting # 6 : cost 0 0.164 * * [simplify]: Extracting # 7 : cost 0 0.164 * * [simplify]: Extracting # 8 : cost 0 0.164 * * [simplify]: Extracting # 9 : cost 0 0.164 * * [simplify]: Extracting # 10 : cost 0 0.164 * * [simplify]: Extracting # 11 : cost 0 0.164 * * [simplify]: Extracting # 12 : cost 0 0.164 * * [simplify]: iteration 0 : 17 enodes (cost 32 ) 0.166 * * [simplify]: Extracting # 0 : cost 0 0.166 * * [simplify]: Extracting # 1 : cost 0 0.166 * * [simplify]: Extracting # 2 : cost 0 0.166 * * [simplify]: iteration 1 : 32 enodes (cost 32 ) 0.172 * * [simplify]: Extracting # 0 : cost 0 0.172 * * [simplify]: Extracting # 1 : cost 0 0.172 * * [simplify]: Extracting # 2 : cost 0 0.172 * * [simplify]: iteration 2 : 69 enodes (cost 32 ) 0.241 * * [simplify]: Extracting # 0 : cost 0 0.241 * * [simplify]: Extracting # 1 : cost 0 0.241 * * [simplify]: Extracting # 2 : cost 0 0.242 * * [simplify]: iteration 3 : 238 enodes (cost 32 ) 0.420 * * [simplify]: Extracting # 0 : cost 0 0.422 * * [simplify]: Extracting # 1 : cost 0 0.423 * * [simplify]: Extracting # 2 : cost 0 0.424 * * [simplify]: iteration 4 : 742 enodes (cost 32 ) 1.112 * * [simplify]: Extracting # 0 : cost 0 1.114 * * [simplify]: Extracting # 1 : cost 0 1.115 * * [simplify]: Extracting # 2 : cost 0 1.120 * * [simplify]: Extracting # 3 : cost 0 1.122 * * [simplify]: iteration 5 : 1972 enodes (cost 32 ) 3.718 * * [simplify]: Extracting # 0 : cost 0 3.722 * * [simplify]: Extracting # 1 : cost 0 3.725 * * [simplify]: Extracting # 2 : cost 0 3.728 * * [simplify]: Extracting # 3 : cost 0 3.731 * * [simplify]: Extracting # 4 : cost 0 3.737 * * [simplify]: iteration 6 : 4486 enodes (cost 32 ) 5.303 * * [simplify]: Extracting # 0 : cost 0 5.311 * * [simplify]: Extracting # 1 : cost 0 5.317 * * [simplify]: Extracting # 2 : cost 0 5.323 * * [simplify]: iteration done: 5001 enodes (cost 32 ) 5.324 * [simplify]: Simplified to: (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) 5.324 * * [progress]: iteration 1 / 4 5.324 * * * [progress]: picking best candidate 5.331 * * * * [pick]: Picked # 5.331 * * * [progress]: localizing error 5.375 * * * [progress]: generating rewritten candidates 5.375 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2) 5.579 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2) 5.591 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 1 2) 5.610 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1) 5.785 * * * [progress]: generating series expansions 5.785 * * * * [progress]: [ 1 / 4 ] generating series at (2 2) 5.786 * [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)))))) 5.787 * [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 5.787 * [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 5.787 * [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 5.787 * [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 5.787 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 5.787 * [taylor]: Taking taylor expansion of phi2 in phi2 5.787 * [backup-simplify]: Simplify 0 into 0 5.787 * [backup-simplify]: Simplify 1 into 1 5.787 * [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 5.787 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 5.787 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 5.787 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.787 * [backup-simplify]: Simplify lambda2 into lambda2 5.787 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 5.787 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 5.787 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 5.787 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.787 * [backup-simplify]: Simplify 0.5 into 0.5 5.787 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 5.787 * [taylor]: Taking taylor expansion of phi2 in phi2 5.787 * [backup-simplify]: Simplify 0 into 0 5.787 * [backup-simplify]: Simplify 1 into 1 5.787 * [taylor]: Taking taylor expansion of phi1 in phi2 5.787 * [backup-simplify]: Simplify phi1 into phi1 5.787 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 5.787 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 5.788 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 5.788 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 5.788 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 5.788 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 5.789 * [backup-simplify]: Simplify (- 0) into 0 5.789 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 5.789 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2 5.789 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 5.789 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 5.789 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 5.789 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 5.789 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.789 * [backup-simplify]: Simplify 0.5 into 0.5 5.789 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 5.789 * [taylor]: Taking taylor expansion of phi2 in phi2 5.789 * [backup-simplify]: Simplify 0 into 0 5.789 * [backup-simplify]: Simplify 1 into 1 5.789 * [taylor]: Taking taylor expansion of phi1 in phi2 5.789 * [backup-simplify]: Simplify phi1 into phi1 5.789 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 5.789 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 5.789 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 5.789 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 5.790 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 5.790 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 5.790 * [backup-simplify]: Simplify (- 0) into 0 5.790 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 5.790 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 5.790 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.790 * [backup-simplify]: Simplify lambda1 into lambda1 5.790 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 5.790 * [taylor]: Taking taylor expansion of phi1 in phi2 5.790 * [backup-simplify]: Simplify phi1 into phi1 5.791 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 5.791 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 5.791 * [taylor]: Taking taylor expansion of 2 in phi2 5.791 * [backup-simplify]: Simplify 2 into 2 5.791 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 5.791 * [taylor]: Taking taylor expansion of phi2 in phi2 5.791 * [backup-simplify]: Simplify 0 into 0 5.791 * [backup-simplify]: Simplify 1 into 1 5.791 * [taylor]: Taking taylor expansion of phi1 in phi2 5.791 * [backup-simplify]: Simplify phi1 into phi1 5.791 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 5.791 * [taylor]: Taking taylor expansion of 2 in phi2 5.791 * [backup-simplify]: Simplify 2 into 2 5.791 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 5.791 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.791 * [backup-simplify]: Simplify lambda2 into lambda2 5.791 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 5.791 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 5.791 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 5.791 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 5.791 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.791 * [backup-simplify]: Simplify 0.5 into 0.5 5.791 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 5.791 * [taylor]: Taking taylor expansion of phi2 in phi2 5.791 * [backup-simplify]: Simplify 0 into 0 5.791 * [backup-simplify]: Simplify 1 into 1 5.791 * [taylor]: Taking taylor expansion of phi1 in phi2 5.791 * [backup-simplify]: Simplify phi1 into phi1 5.791 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 5.792 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 5.792 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 5.792 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 5.792 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 5.792 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 5.792 * [backup-simplify]: Simplify (- 0) into 0 5.793 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 5.793 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.793 * [backup-simplify]: Simplify lambda1 into lambda1 5.793 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.793 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 5.793 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 5.793 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 5.793 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.794 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 5.794 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.794 * [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)) 5.795 * [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))) 5.796 * [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))) 5.796 * [backup-simplify]: Simplify (* 0 phi1) into 0 5.797 * [backup-simplify]: Simplify (* 2 0) into 0 5.797 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 5.797 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 5.797 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 5.798 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 5.798 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 5.798 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 5.800 * [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)))) 5.801 * [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))))) 5.802 * [backup-simplify]: Simplify (+ 0) into 0 5.803 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 5.803 * [backup-simplify]: Simplify (+ 1 0) into 1 5.803 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 5.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.807 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 5.807 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.807 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.807 * [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))))) 5.808 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.808 * [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))))) 5.808 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 5.808 * [backup-simplify]: Simplify (+ 0) into 0 5.809 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 5.809 * [backup-simplify]: Simplify (+ 1 0) into 1 5.809 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 5.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.811 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 5.811 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.811 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.811 * [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))))) 5.812 * [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))))) 5.812 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.812 * [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))))) 5.813 * [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)))))) 5.813 * [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)))))) 5.813 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 5.814 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 5.814 * [backup-simplify]: Simplify (+ 0) into 0 5.814 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 5.815 * [backup-simplify]: Simplify (+ 1 0) into 1 5.815 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 5.816 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.817 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 5.817 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.817 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.817 * [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))))) 5.817 * [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)))) 5.818 * [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))))) 5.818 * [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))))) 5.818 * [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))))) 5.819 * [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)) 5.820 * [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)))) 5.821 * [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)))))))) 5.821 * [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 5.821 * [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 5.821 * [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 5.821 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.821 * [taylor]: Taking taylor expansion of phi2 in phi1 5.821 * [backup-simplify]: Simplify phi2 into phi2 5.821 * [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 5.821 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 5.822 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 5.822 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.822 * [backup-simplify]: Simplify lambda2 into lambda2 5.822 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 5.822 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.822 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.822 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.822 * [backup-simplify]: Simplify 0.5 into 0.5 5.822 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.822 * [taylor]: Taking taylor expansion of phi2 in phi1 5.822 * [backup-simplify]: Simplify phi2 into phi2 5.822 * [taylor]: Taking taylor expansion of phi1 in phi1 5.822 * [backup-simplify]: Simplify 0 into 0 5.822 * [backup-simplify]: Simplify 1 into 1 5.822 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.822 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.822 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.822 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.822 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.822 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.822 * [backup-simplify]: Simplify (- 0) into 0 5.822 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.822 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 5.823 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 5.823 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 5.823 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.823 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.823 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.823 * [backup-simplify]: Simplify 0.5 into 0.5 5.823 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.823 * [taylor]: Taking taylor expansion of phi2 in phi1 5.823 * [backup-simplify]: Simplify phi2 into phi2 5.823 * [taylor]: Taking taylor expansion of phi1 in phi1 5.823 * [backup-simplify]: Simplify 0 into 0 5.823 * [backup-simplify]: Simplify 1 into 1 5.823 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.823 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.823 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.823 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.823 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.823 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.823 * [backup-simplify]: Simplify (- 0) into 0 5.823 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.823 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 5.823 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.823 * [backup-simplify]: Simplify lambda1 into lambda1 5.823 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.823 * [taylor]: Taking taylor expansion of phi1 in phi1 5.823 * [backup-simplify]: Simplify 0 into 0 5.823 * [backup-simplify]: Simplify 1 into 1 5.823 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 5.823 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 5.824 * [taylor]: Taking taylor expansion of 2 in phi1 5.824 * [backup-simplify]: Simplify 2 into 2 5.824 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.824 * [taylor]: Taking taylor expansion of phi2 in phi1 5.824 * [backup-simplify]: Simplify phi2 into phi2 5.824 * [taylor]: Taking taylor expansion of phi1 in phi1 5.824 * [backup-simplify]: Simplify 0 into 0 5.824 * [backup-simplify]: Simplify 1 into 1 5.824 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 5.824 * [taylor]: Taking taylor expansion of 2 in phi1 5.824 * [backup-simplify]: Simplify 2 into 2 5.824 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 5.824 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.824 * [backup-simplify]: Simplify lambda2 into lambda2 5.824 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 5.824 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 5.824 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.824 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.824 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.824 * [backup-simplify]: Simplify 0.5 into 0.5 5.824 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.824 * [taylor]: Taking taylor expansion of phi2 in phi1 5.824 * [backup-simplify]: Simplify phi2 into phi2 5.824 * [taylor]: Taking taylor expansion of phi1 in phi1 5.824 * [backup-simplify]: Simplify 0 into 0 5.824 * [backup-simplify]: Simplify 1 into 1 5.824 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.824 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.824 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.824 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.824 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.824 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.824 * [backup-simplify]: Simplify (- 0) into 0 5.825 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.825 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.825 * [backup-simplify]: Simplify lambda1 into lambda1 5.825 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.825 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.825 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.825 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 5.825 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.825 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.825 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 5.825 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 5.826 * [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))) 5.826 * [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))) 5.826 * [backup-simplify]: Simplify (* phi2 0) into 0 5.827 * [backup-simplify]: Simplify (* 2 0) into 0 5.827 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.827 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 5.827 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 5.827 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 5.828 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 5.828 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 5.828 * [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)))) 5.829 * [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))))) 5.829 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.830 * [backup-simplify]: Simplify (+ 0) into 0 5.830 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 5.830 * [backup-simplify]: Simplify (+ 0 1) into 1 5.831 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 5.832 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.833 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 5.833 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.833 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.833 * [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))))) 5.833 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.834 * [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))))) 5.834 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 5.834 * [backup-simplify]: Simplify (+ 0) into 0 5.834 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 5.835 * [backup-simplify]: Simplify (+ 0 1) into 1 5.835 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 5.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.837 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 5.837 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.837 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.837 * [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))))) 5.837 * [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))))) 5.838 * [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))))) 5.838 * [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)))))) 5.839 * [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)))))) 5.839 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.840 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.840 * [backup-simplify]: Simplify (+ 0) into 0 5.840 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 5.840 * [backup-simplify]: Simplify (+ 0 1) into 1 5.841 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 5.842 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.843 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 5.843 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.843 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.843 * [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))))) 5.843 * [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)))) 5.844 * [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))))) 5.844 * [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))))) 5.845 * [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))))) 5.845 * [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)) 5.847 * [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))))))) 5.850 * [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)))))))) 5.850 * [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 5.850 * [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 5.850 * [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 5.850 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.850 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.850 * [backup-simplify]: Simplify phi2 into phi2 5.850 * [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 5.850 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.850 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.850 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.850 * [backup-simplify]: Simplify 0 into 0 5.850 * [backup-simplify]: Simplify 1 into 1 5.850 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.850 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.850 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.850 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.850 * [backup-simplify]: Simplify 0.5 into 0.5 5.851 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.851 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.851 * [backup-simplify]: Simplify phi2 into phi2 5.851 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.851 * [backup-simplify]: Simplify phi1 into phi1 5.851 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.851 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.851 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.851 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.851 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.851 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.852 * [backup-simplify]: Simplify (- 0) into 0 5.852 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.852 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2 5.852 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 5.852 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.852 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.852 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.852 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.852 * [backup-simplify]: Simplify 0.5 into 0.5 5.852 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.852 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.852 * [backup-simplify]: Simplify phi2 into phi2 5.852 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.852 * [backup-simplify]: Simplify phi1 into phi1 5.853 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.853 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.853 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.853 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.853 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.853 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.854 * [backup-simplify]: Simplify (- 0) into 0 5.854 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.854 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 5.854 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.854 * [backup-simplify]: Simplify lambda1 into lambda1 5.854 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.854 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.854 * [backup-simplify]: Simplify phi1 into phi1 5.854 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 5.854 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.854 * [taylor]: Taking taylor expansion of 2 in lambda2 5.854 * [backup-simplify]: Simplify 2 into 2 5.854 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.854 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.854 * [backup-simplify]: Simplify phi2 into phi2 5.854 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.854 * [backup-simplify]: Simplify phi1 into phi1 5.854 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 5.854 * [taylor]: Taking taylor expansion of 2 in lambda2 5.854 * [backup-simplify]: Simplify 2 into 2 5.854 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 5.854 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.854 * [backup-simplify]: Simplify 0 into 0 5.854 * [backup-simplify]: Simplify 1 into 1 5.854 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 5.855 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.855 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.855 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.855 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.855 * [backup-simplify]: Simplify 0.5 into 0.5 5.855 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.855 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.855 * [backup-simplify]: Simplify phi2 into phi2 5.855 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.855 * [backup-simplify]: Simplify phi1 into phi1 5.855 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.855 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.855 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.855 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.855 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.855 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.856 * [backup-simplify]: Simplify (- 0) into 0 5.856 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.856 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.856 * [backup-simplify]: Simplify lambda1 into lambda1 5.856 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.856 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.857 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.857 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 5.857 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.857 * [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)) 5.858 * [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)) 5.859 * [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))) 5.859 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.859 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.859 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.859 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 5.860 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 5.860 * [backup-simplify]: Simplify (* 2 0) into 0 5.860 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 5.860 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.861 * [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))) 5.862 * [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)))) 5.862 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.863 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 5.863 * [backup-simplify]: Simplify (+ 0) into 0 5.864 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.864 * [backup-simplify]: Simplify (+ 0 0) into 0 5.865 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.866 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.867 * [backup-simplify]: Simplify (- 0) into 0 5.867 * [backup-simplify]: Simplify (+ 0 0) into 0 5.867 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.868 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 5.868 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.868 * [backup-simplify]: Simplify (+ 0 0) into 0 5.869 * [backup-simplify]: Simplify (+ 0 0) into 0 5.869 * [backup-simplify]: Simplify (+ 0 0) into 0 5.869 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.870 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.870 * [backup-simplify]: Simplify (+ 0) into 0 5.871 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.872 * [backup-simplify]: Simplify (+ 0 0) into 0 5.872 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.872 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.873 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.873 * [backup-simplify]: Simplify (- 0) into 0 5.873 * [backup-simplify]: Simplify (+ 0 0) into 0 5.873 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.873 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 5.874 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 5.874 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 5.875 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 5.875 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 5.875 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 5.876 * [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))) 5.876 * [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 5.876 * [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 5.876 * [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 5.876 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.876 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.876 * [backup-simplify]: Simplify phi2 into phi2 5.876 * [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 5.876 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 5.876 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.876 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.876 * [backup-simplify]: Simplify lambda2 into lambda2 5.876 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 5.876 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.876 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.876 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.876 * [backup-simplify]: Simplify 0.5 into 0.5 5.876 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.876 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.876 * [backup-simplify]: Simplify phi2 into phi2 5.876 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.876 * [backup-simplify]: Simplify phi1 into phi1 5.876 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.876 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.876 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.876 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.876 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.876 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.877 * [backup-simplify]: Simplify (- 0) into 0 5.877 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.877 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 5.877 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 5.877 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 5.877 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.877 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.877 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.877 * [backup-simplify]: Simplify 0.5 into 0.5 5.877 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.877 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.877 * [backup-simplify]: Simplify phi2 into phi2 5.877 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.877 * [backup-simplify]: Simplify phi1 into phi1 5.877 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.877 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.877 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.877 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.877 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.877 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.878 * [backup-simplify]: Simplify (- 0) into 0 5.878 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.878 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.878 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.878 * [backup-simplify]: Simplify 0 into 0 5.878 * [backup-simplify]: Simplify 1 into 1 5.878 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.878 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.878 * [backup-simplify]: Simplify phi1 into phi1 5.878 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 5.878 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 5.878 * [taylor]: Taking taylor expansion of 2 in lambda1 5.878 * [backup-simplify]: Simplify 2 into 2 5.878 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 5.878 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.878 * [backup-simplify]: Simplify phi2 into phi2 5.878 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.878 * [backup-simplify]: Simplify phi1 into phi1 5.878 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 5.878 * [taylor]: Taking taylor expansion of 2 in lambda1 5.878 * [backup-simplify]: Simplify 2 into 2 5.878 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 5.878 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.878 * [backup-simplify]: Simplify lambda2 into lambda2 5.878 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 5.878 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 5.878 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.878 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.878 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.878 * [backup-simplify]: Simplify 0.5 into 0.5 5.878 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.878 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.878 * [backup-simplify]: Simplify phi2 into phi2 5.878 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.878 * [backup-simplify]: Simplify phi1 into phi1 5.878 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.878 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.879 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.879 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.879 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.879 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.879 * [backup-simplify]: Simplify (- 0) into 0 5.879 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.879 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.879 * [backup-simplify]: Simplify 0 into 0 5.879 * [backup-simplify]: Simplify 1 into 1 5.879 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.879 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.879 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.880 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 5.880 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.880 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 5.880 * [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)) 5.880 * [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))) 5.880 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.880 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.881 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.881 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 5.881 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.887 * [backup-simplify]: Simplify (* 2 0) into 0 5.887 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 5.887 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.888 * [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))) 5.888 * [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)))) 5.889 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.889 * [backup-simplify]: Simplify (+ 0) into 0 5.889 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.890 * [backup-simplify]: Simplify (+ 0 0) into 0 5.890 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.891 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.891 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.891 * [backup-simplify]: Simplify (- 0) into 0 5.891 * [backup-simplify]: Simplify (+ 0 0) into 0 5.892 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.892 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.892 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 5.892 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.892 * [backup-simplify]: Simplify (+ 0 0) into 0 5.892 * [backup-simplify]: Simplify (+ 0 0) into 0 5.893 * [backup-simplify]: Simplify (+ 0 0) into 0 5.893 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.893 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.893 * [backup-simplify]: Simplify (+ 0) into 0 5.894 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.894 * [backup-simplify]: Simplify (+ 0 0) into 0 5.894 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.895 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.895 * [backup-simplify]: Simplify (- 0) into 0 5.895 * [backup-simplify]: Simplify (+ 0 0) into 0 5.896 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.896 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.896 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 5.897 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 5.897 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 5.897 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 5.897 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 5.898 * [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)))) 5.898 * [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 5.898 * [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 5.898 * [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 5.898 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.898 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.898 * [backup-simplify]: Simplify phi2 into phi2 5.898 * [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 5.898 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 5.898 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.898 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.898 * [backup-simplify]: Simplify lambda2 into lambda2 5.898 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 5.898 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.898 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.898 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.899 * [backup-simplify]: Simplify 0.5 into 0.5 5.899 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.899 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.899 * [backup-simplify]: Simplify phi2 into phi2 5.899 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.899 * [backup-simplify]: Simplify phi1 into phi1 5.899 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.899 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.899 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.899 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.899 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.899 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.899 * [backup-simplify]: Simplify (- 0) into 0 5.899 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.899 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 5.899 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 5.899 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 5.899 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.899 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.899 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.900 * [backup-simplify]: Simplify 0.5 into 0.5 5.900 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.900 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.900 * [backup-simplify]: Simplify phi2 into phi2 5.900 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.900 * [backup-simplify]: Simplify phi1 into phi1 5.900 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.900 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.900 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.900 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.900 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.900 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.900 * [backup-simplify]: Simplify (- 0) into 0 5.900 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.900 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.900 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.900 * [backup-simplify]: Simplify 0 into 0 5.900 * [backup-simplify]: Simplify 1 into 1 5.900 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.900 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.900 * [backup-simplify]: Simplify phi1 into phi1 5.900 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 5.900 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 5.901 * [taylor]: Taking taylor expansion of 2 in lambda1 5.901 * [backup-simplify]: Simplify 2 into 2 5.901 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 5.901 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.901 * [backup-simplify]: Simplify phi2 into phi2 5.901 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.901 * [backup-simplify]: Simplify phi1 into phi1 5.901 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 5.901 * [taylor]: Taking taylor expansion of 2 in lambda1 5.901 * [backup-simplify]: Simplify 2 into 2 5.901 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 5.901 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.901 * [backup-simplify]: Simplify lambda2 into lambda2 5.901 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 5.901 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 5.901 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.901 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.901 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.901 * [backup-simplify]: Simplify 0.5 into 0.5 5.901 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.901 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.901 * [backup-simplify]: Simplify phi2 into phi2 5.901 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.901 * [backup-simplify]: Simplify phi1 into phi1 5.901 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.901 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.901 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.901 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.901 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.901 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.902 * [backup-simplify]: Simplify (- 0) into 0 5.902 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.902 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.902 * [backup-simplify]: Simplify 0 into 0 5.902 * [backup-simplify]: Simplify 1 into 1 5.902 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.902 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.902 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.902 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 5.902 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.902 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 5.902 * [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)) 5.903 * [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))) 5.903 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.903 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.903 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.903 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 5.903 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.904 * [backup-simplify]: Simplify (* 2 0) into 0 5.904 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 5.904 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.905 * [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))) 5.905 * [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)))) 5.905 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.906 * [backup-simplify]: Simplify (+ 0) into 0 5.906 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.907 * [backup-simplify]: Simplify (+ 0 0) into 0 5.907 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.908 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.908 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 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 (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.909 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.910 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 5.910 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.910 * [backup-simplify]: Simplify (+ 0 0) into 0 5.910 * [backup-simplify]: Simplify (+ 0 0) into 0 5.911 * [backup-simplify]: Simplify (+ 0 0) into 0 5.911 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.911 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.912 * [backup-simplify]: Simplify (+ 0) into 0 5.912 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.912 * [backup-simplify]: Simplify (+ 0 0) into 0 5.913 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.914 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.914 * [backup-simplify]: Simplify (- 0) into 0 5.915 * [backup-simplify]: Simplify (+ 0 0) into 0 5.915 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.915 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.916 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 5.917 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 5.917 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 5.917 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 5.918 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 5.919 * [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)))) 5.919 * [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 5.919 * [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 5.919 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 5.919 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.919 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.919 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.919 * [backup-simplify]: Simplify 0 into 0 5.919 * [backup-simplify]: Simplify 1 into 1 5.919 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.919 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.919 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.919 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.919 * [backup-simplify]: Simplify 0.5 into 0.5 5.919 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.919 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.919 * [backup-simplify]: Simplify phi2 into phi2 5.919 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.919 * [backup-simplify]: Simplify phi1 into phi1 5.919 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.919 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.920 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.920 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.920 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.920 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.921 * [backup-simplify]: Simplify (- 0) into 0 5.921 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.921 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 5.921 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.921 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.921 * [backup-simplify]: Simplify phi1 into phi1 5.921 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.921 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.921 * [backup-simplify]: Simplify phi2 into phi2 5.921 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.921 * [taylor]: Taking taylor expansion of 2 in lambda2 5.921 * [backup-simplify]: Simplify 2 into 2 5.921 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.921 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.921 * [backup-simplify]: Simplify phi2 into phi2 5.921 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.921 * [backup-simplify]: Simplify phi1 into phi1 5.921 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.921 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.922 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.922 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 5.922 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.922 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.922 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.923 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 5.923 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 5.923 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.923 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.924 * [backup-simplify]: Simplify (+ 0 0) into 0 5.924 * [backup-simplify]: Simplify (+ 0 0) into 0 5.924 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.924 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.925 * [backup-simplify]: Simplify (- 0) into 0 5.925 * [backup-simplify]: Simplify (+ 0 0) into 0 5.926 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 5.926 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 5.926 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 5.926 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 5.926 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.926 * [taylor]: Taking taylor expansion of phi2 in phi1 5.926 * [backup-simplify]: Simplify phi2 into phi2 5.926 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.926 * [taylor]: Taking taylor expansion of phi1 in phi1 5.926 * [backup-simplify]: Simplify 0 into 0 5.926 * [backup-simplify]: Simplify 1 into 1 5.926 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 5.926 * [taylor]: Taking taylor expansion of 2 in phi1 5.926 * [backup-simplify]: Simplify 2 into 2 5.926 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.926 * [taylor]: Taking taylor expansion of phi2 in phi1 5.926 * [backup-simplify]: Simplify phi2 into phi2 5.926 * [taylor]: Taking taylor expansion of phi1 in phi1 5.926 * [backup-simplify]: Simplify 0 into 0 5.926 * [backup-simplify]: Simplify 1 into 1 5.926 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.926 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.926 * [backup-simplify]: Simplify (* phi2 0) into 0 5.927 * [backup-simplify]: Simplify (* 2 0) into 0 5.927 * [backup-simplify]: Simplify (- 0) into 0 5.927 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.927 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 5.927 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.928 * [backup-simplify]: Simplify (+ 0 0) into 0 5.928 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.929 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.929 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.929 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.929 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 5.929 * [taylor]: Taking taylor expansion of phi2 in phi2 5.929 * [backup-simplify]: Simplify 0 into 0 5.929 * [backup-simplify]: Simplify 1 into 1 5.929 * [backup-simplify]: Simplify 0 into 0 5.929 * [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 5.929 * [taylor]: Taking taylor expansion of -1 in lambda2 5.929 * [backup-simplify]: Simplify -1 into -1 5.929 * [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 5.929 * [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 5.929 * [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 5.930 * [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 5.930 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 5.930 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.930 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.930 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.930 * [backup-simplify]: Simplify 0 into 0 5.930 * [backup-simplify]: Simplify 1 into 1 5.930 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.930 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.930 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.930 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.930 * [backup-simplify]: Simplify 0.5 into 0.5 5.930 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.930 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.930 * [backup-simplify]: Simplify phi2 into phi2 5.930 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.930 * [backup-simplify]: Simplify phi1 into phi1 5.930 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.930 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.930 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.930 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.931 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.931 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.931 * [backup-simplify]: Simplify (- 0) into 0 5.931 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.931 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 5.931 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.931 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.931 * [backup-simplify]: Simplify phi1 into phi1 5.932 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.932 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.932 * [backup-simplify]: Simplify phi2 into phi2 5.932 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.932 * [taylor]: Taking taylor expansion of 2 in lambda2 5.932 * [backup-simplify]: Simplify 2 into 2 5.932 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.932 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.932 * [backup-simplify]: Simplify phi2 into phi2 5.932 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.932 * [backup-simplify]: Simplify phi1 into phi1 5.932 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.932 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.932 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.932 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 5.933 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.933 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.933 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.933 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 5.934 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 5.934 * [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))))) 5.934 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.934 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.935 * [backup-simplify]: Simplify (+ 0 0) into 0 5.935 * [backup-simplify]: Simplify (+ 0 0) into 0 5.935 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.936 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.936 * [backup-simplify]: Simplify (- 0) into 0 5.936 * [backup-simplify]: Simplify (+ 0 0) into 0 5.937 * [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 5.938 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 5.938 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.938 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.938 * [backup-simplify]: Simplify 0 into 0 5.938 * [backup-simplify]: Simplify 1 into 1 5.938 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.938 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.938 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.938 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.938 * [backup-simplify]: Simplify 0.5 into 0.5 5.938 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.938 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.938 * [backup-simplify]: Simplify phi2 into phi2 5.938 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.938 * [backup-simplify]: Simplify phi1 into phi1 5.938 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.939 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.939 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.939 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.939 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.939 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.939 * [backup-simplify]: Simplify (- 0) into 0 5.940 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.940 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.940 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 5.941 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 5.941 * [backup-simplify]: Simplify (* -1 0) into 0 5.941 * [taylor]: Taking taylor expansion of 0 in phi1 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [taylor]: Taking taylor expansion of 0 in phi2 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [taylor]: Taking taylor expansion of 0 in phi1 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [taylor]: Taking taylor expansion of 0 in phi2 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [taylor]: Taking taylor expansion of -1 in phi2 5.941 * [backup-simplify]: Simplify -1 into -1 5.941 * [backup-simplify]: Simplify -1 into -1 5.942 * [backup-simplify]: Simplify 1 into 1 5.942 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 5.943 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.944 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 5.945 * [backup-simplify]: Simplify (+ 0 0) into 0 5.946 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 5.946 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.947 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 5.947 * [backup-simplify]: Simplify (- 0) into 0 5.948 * [backup-simplify]: Simplify (+ 0 0) into 0 5.949 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 5.949 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 5.950 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into 0 5.950 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.950 * [backup-simplify]: Simplify (* 1 1) into 1 5.951 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.951 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 5.951 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.952 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.952 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.952 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 5.953 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 5.954 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.955 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 5.955 * [backup-simplify]: Simplify (+ 0 0) into 0 5.956 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 5.957 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.958 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 5.958 * [backup-simplify]: Simplify (- 0) into 0 5.958 * [backup-simplify]: Simplify (+ 0 0) into 0 5.959 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 5.960 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 1) (* 0 0))) into 0 5.961 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0))) into 0 5.962 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0))) into 0 5.962 * [backup-simplify]: Simplify (+ 0 0) into 0 5.962 * [backup-simplify]: Simplify (- 0) into 0 5.963 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.966 * [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))))))) 5.966 * [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 5.966 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.966 * [backup-simplify]: Simplify 1/2 into 1/2 5.966 * [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 5.966 * [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 5.966 * [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 5.966 * [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 5.966 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 5.966 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.966 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.966 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.966 * [backup-simplify]: Simplify 0 into 0 5.967 * [backup-simplify]: Simplify 1 into 1 5.967 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.967 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.967 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.967 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.967 * [backup-simplify]: Simplify 0.5 into 0.5 5.967 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.967 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.967 * [backup-simplify]: Simplify phi2 into phi2 5.967 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.967 * [backup-simplify]: Simplify phi1 into phi1 5.967 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.967 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.967 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.967 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.967 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.968 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.968 * [backup-simplify]: Simplify (- 0) into 0 5.968 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.968 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 5.968 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.968 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.968 * [backup-simplify]: Simplify phi2 into phi2 5.968 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.968 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.968 * [backup-simplify]: Simplify phi1 into phi1 5.968 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.968 * [taylor]: Taking taylor expansion of 2 in lambda2 5.968 * [backup-simplify]: Simplify 2 into 2 5.969 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.969 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.969 * [backup-simplify]: Simplify phi2 into phi2 5.969 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.969 * [backup-simplify]: Simplify phi1 into phi1 5.969 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.969 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.969 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 5.969 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 5.969 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.970 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.970 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.970 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 5.970 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 5.971 * [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))))) 5.971 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.971 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.972 * [backup-simplify]: Simplify (+ 0 0) into 0 5.972 * [backup-simplify]: Simplify (+ 0 0) into 0 5.972 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.972 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.972 * [backup-simplify]: Simplify (- 0) into 0 5.973 * [backup-simplify]: Simplify (+ 0 0) into 0 5.973 * [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 5.973 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 5.974 * [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 5.974 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.974 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.974 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.974 * [backup-simplify]: Simplify 0.5 into 0.5 5.974 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.974 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.974 * [backup-simplify]: Simplify phi2 into phi2 5.974 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.974 * [backup-simplify]: Simplify phi1 into phi1 5.974 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.974 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.974 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.974 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.974 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.974 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.974 * [backup-simplify]: Simplify (- 0) into 0 5.974 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.974 * [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 5.974 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) in lambda2 5.975 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.975 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.975 * [backup-simplify]: Simplify 0 into 0 5.975 * [backup-simplify]: Simplify 1 into 1 5.975 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in lambda2 5.975 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.975 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.975 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.975 * [backup-simplify]: Simplify 0.5 into 0.5 5.975 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.975 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.975 * [backup-simplify]: Simplify phi2 into phi2 5.975 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.975 * [backup-simplify]: Simplify phi1 into phi1 5.975 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.975 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.975 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.975 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.975 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.975 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.975 * [backup-simplify]: Simplify (- 0) into 0 5.975 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.975 * [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 5.976 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 5.976 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.976 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.976 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.976 * [backup-simplify]: Simplify 0 into 0 5.976 * [backup-simplify]: Simplify 1 into 1 5.976 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.976 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.976 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.976 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.976 * [backup-simplify]: Simplify 0.5 into 0.5 5.976 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.976 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.976 * [backup-simplify]: Simplify phi2 into phi2 5.976 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.976 * [backup-simplify]: Simplify phi1 into phi1 5.976 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.976 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.976 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.976 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.976 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.976 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.976 * [backup-simplify]: Simplify (- 0) into 0 5.976 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.977 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 5.977 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.977 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.977 * [backup-simplify]: Simplify phi2 into phi2 5.977 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.977 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.977 * [backup-simplify]: Simplify phi1 into phi1 5.977 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.977 * [taylor]: Taking taylor expansion of 2 in lambda2 5.977 * [backup-simplify]: Simplify 2 into 2 5.977 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.977 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.977 * [backup-simplify]: Simplify phi2 into phi2 5.977 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.977 * [backup-simplify]: Simplify phi1 into phi1 5.977 * [backup-simplify]: Simplify (* 1 1) into 1 5.977 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.977 * [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) 5.977 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 4)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 5.978 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.978 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.978 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 5.978 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 5.978 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.978 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.978 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.978 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 5.979 * [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)))) 5.979 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.979 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.979 * [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)))))) 5.980 * [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))))))) 5.980 * [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 5.980 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.980 * [backup-simplify]: Simplify 1/2 into 1/2 5.980 * [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 5.980 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 5.980 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.980 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.980 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.980 * [backup-simplify]: Simplify 0.5 into 0.5 5.980 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.980 * [taylor]: Taking taylor expansion of phi2 in phi1 5.980 * [backup-simplify]: Simplify phi2 into phi2 5.980 * [taylor]: Taking taylor expansion of phi1 in phi1 5.980 * [backup-simplify]: Simplify 0 into 0 5.980 * [backup-simplify]: Simplify 1 into 1 5.980 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.980 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.980 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.980 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.980 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.980 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.981 * [backup-simplify]: Simplify (- 0) into 0 5.981 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.981 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) in phi1 5.981 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi1 5.981 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi1 5.981 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 5.981 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.981 * [taylor]: Taking taylor expansion of phi1 in phi1 5.981 * [backup-simplify]: Simplify 0 into 0 5.981 * [backup-simplify]: Simplify 1 into 1 5.981 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.981 * [taylor]: Taking taylor expansion of phi2 in phi1 5.981 * [backup-simplify]: Simplify phi2 into phi2 5.981 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 5.981 * [taylor]: Taking taylor expansion of 2 in phi1 5.981 * [backup-simplify]: Simplify 2 into 2 5.981 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.981 * [taylor]: Taking taylor expansion of phi2 in phi1 5.981 * [backup-simplify]: Simplify phi2 into phi2 5.981 * [taylor]: Taking taylor expansion of phi1 in phi1 5.981 * [backup-simplify]: Simplify 0 into 0 5.981 * [backup-simplify]: Simplify 1 into 1 5.981 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.981 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 5.981 * [backup-simplify]: Simplify (* phi2 0) into 0 5.982 * [backup-simplify]: Simplify (* 2 0) into 0 5.982 * [backup-simplify]: Simplify (- 0) into 0 5.982 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.982 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.982 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 5.982 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.982 * [backup-simplify]: Simplify (+ 0 0) into 0 5.983 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.983 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.983 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.983 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.983 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 5.983 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 5.984 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.984 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (/ 1 phi2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 5.984 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 5.984 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 5.984 * [taylor]: Taking taylor expansion of 1/2 in phi2 5.984 * [backup-simplify]: Simplify 1/2 into 1/2 5.984 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 5.984 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.984 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.984 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.984 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.984 * [backup-simplify]: Simplify 0.5 into 0.5 5.984 * [taylor]: Taking taylor expansion of phi2 in phi2 5.984 * [backup-simplify]: Simplify 0 into 0 5.984 * [backup-simplify]: Simplify 1 into 1 5.984 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.985 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.985 * [taylor]: Taking taylor expansion of phi2 in phi2 5.985 * [backup-simplify]: Simplify 0 into 0 5.985 * [backup-simplify]: Simplify 1 into 1 5.985 * [backup-simplify]: Simplify (* 1 1) into 1 5.986 * [backup-simplify]: Simplify (/ 1 1) into 1 5.986 * [backup-simplify]: Simplify (+ 0) into 0 5.986 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.987 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 5.987 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 5.987 * [backup-simplify]: Simplify 0 into 0 5.987 * [backup-simplify]: Simplify (+ 0) into 0 5.988 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.988 * [backup-simplify]: Simplify (+ 0 0) into 0 5.988 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.989 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.989 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.989 * [backup-simplify]: Simplify (- 0) into 0 5.990 * [backup-simplify]: Simplify (+ 0 0) into 0 5.990 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.990 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.991 * [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)) 5.992 * [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))) 5.992 * [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 5.992 * [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 5.992 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 5.992 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 5.992 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 5.992 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 5.992 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.992 * [taylor]: Taking taylor expansion of phi2 in phi1 5.992 * [backup-simplify]: Simplify phi2 into phi2 5.992 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.992 * [taylor]: Taking taylor expansion of phi1 in phi1 5.992 * [backup-simplify]: Simplify 0 into 0 5.992 * [backup-simplify]: Simplify 1 into 1 5.992 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 5.992 * [taylor]: Taking taylor expansion of 2 in phi1 5.992 * [backup-simplify]: Simplify 2 into 2 5.992 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.992 * [taylor]: Taking taylor expansion of phi2 in phi1 5.992 * [backup-simplify]: Simplify phi2 into phi2 5.992 * [taylor]: Taking taylor expansion of phi1 in phi1 5.992 * [backup-simplify]: Simplify 0 into 0 5.992 * [backup-simplify]: Simplify 1 into 1 5.993 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.993 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.993 * [backup-simplify]: Simplify (* phi2 0) into 0 5.995 * [backup-simplify]: Simplify (* 2 0) into 0 5.996 * [backup-simplify]: Simplify (- 0) into 0 5.996 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.996 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.996 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 5.996 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.996 * [backup-simplify]: Simplify (+ 0 0) into 0 5.997 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.997 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.997 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.997 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.997 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 5.998 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 5.998 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 5.998 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.998 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.998 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.998 * [backup-simplify]: Simplify 0.5 into 0.5 5.998 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.998 * [taylor]: Taking taylor expansion of phi2 in phi1 5.998 * [backup-simplify]: Simplify phi2 into phi2 5.998 * [taylor]: Taking taylor expansion of phi1 in phi1 5.998 * [backup-simplify]: Simplify 0 into 0 5.998 * [backup-simplify]: Simplify 1 into 1 5.998 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.998 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.998 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.998 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.998 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.998 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.999 * [backup-simplify]: Simplify (- 0) into 0 5.999 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.999 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.999 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 5.999 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 5.999 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 5.999 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 5.999 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.999 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.999 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.999 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.999 * [backup-simplify]: Simplify 0.5 into 0.5 5.999 * [taylor]: Taking taylor expansion of phi2 in phi2 5.999 * [backup-simplify]: Simplify 0 into 0 5.999 * [backup-simplify]: Simplify 1 into 1 6.000 * [backup-simplify]: Simplify (* 0.5 0) into 0 6.001 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 6.001 * [taylor]: Taking taylor expansion of phi2 in phi2 6.001 * [backup-simplify]: Simplify 0 into 0 6.001 * [backup-simplify]: Simplify 1 into 1 6.001 * [backup-simplify]: Simplify (* 1 1) into 1 6.001 * [backup-simplify]: Simplify (/ 1 1) into 1 6.001 * [backup-simplify]: Simplify (+ 0) into 0 6.002 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.002 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 6.002 * [backup-simplify]: Simplify (- 0) into 0 6.003 * [backup-simplify]: Simplify 0 into 0 6.003 * [backup-simplify]: Simplify (* 1 1) into 1 6.003 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 6.003 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 6.003 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 6.004 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 6.004 * [backup-simplify]: Simplify (+ 0 0) into 0 6.004 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 6.004 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 6.005 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 6.005 * [backup-simplify]: Simplify (- 0) into 0 6.005 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 6.006 * [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))) 6.006 * [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 6.006 * [taylor]: Taking taylor expansion of 1/2 in phi1 6.006 * [backup-simplify]: Simplify 1/2 into 1/2 6.006 * [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 6.006 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 6.006 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 6.006 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 6.006 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 6.006 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 6.006 * [taylor]: Taking taylor expansion of phi2 in phi1 6.006 * [backup-simplify]: Simplify phi2 into phi2 6.006 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 6.006 * [taylor]: Taking taylor expansion of phi1 in phi1 6.006 * [backup-simplify]: Simplify 0 into 0 6.006 * [backup-simplify]: Simplify 1 into 1 6.006 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 6.006 * [taylor]: Taking taylor expansion of 2 in phi1 6.006 * [backup-simplify]: Simplify 2 into 2 6.006 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 6.006 * [taylor]: Taking taylor expansion of phi2 in phi1 6.007 * [backup-simplify]: Simplify phi2 into phi2 6.007 * [taylor]: Taking taylor expansion of phi1 in phi1 6.007 * [backup-simplify]: Simplify 0 into 0 6.007 * [backup-simplify]: Simplify 1 into 1 6.007 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.007 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 6.007 * [backup-simplify]: Simplify (* phi2 0) into 0 6.007 * [backup-simplify]: Simplify (* 2 0) into 0 6.007 * [backup-simplify]: Simplify (- 0) into 0 6.007 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 6.007 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.008 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 6.008 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 6.008 * [backup-simplify]: Simplify (+ 0 0) into 0 6.008 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 6.008 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 6.008 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 6.008 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 6.009 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 6.009 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 6.009 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 6.009 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 6.009 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 6.009 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.009 * [backup-simplify]: Simplify 0.5 into 0.5 6.009 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 6.009 * [taylor]: Taking taylor expansion of phi2 in phi1 6.009 * [backup-simplify]: Simplify phi2 into phi2 6.009 * [taylor]: Taking taylor expansion of phi1 in phi1 6.009 * [backup-simplify]: Simplify 0 into 0 6.009 * [backup-simplify]: Simplify 1 into 1 6.009 * [backup-simplify]: Simplify (+ phi2 0) into phi2 6.009 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 6.009 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 6.009 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 6.009 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 6.009 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 6.010 * [backup-simplify]: Simplify (- 0) into 0 6.010 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 6.010 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 6.010 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 6.010 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 6.010 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 6.010 * [taylor]: Taking taylor expansion of 1/2 in phi2 6.010 * [backup-simplify]: Simplify 1/2 into 1/2 6.010 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 6.010 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 6.010 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 6.010 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 6.010 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.010 * [backup-simplify]: Simplify 0.5 into 0.5 6.010 * [taylor]: Taking taylor expansion of phi2 in phi2 6.010 * [backup-simplify]: Simplify 0 into 0 6.010 * [backup-simplify]: Simplify 1 into 1 6.011 * [backup-simplify]: Simplify (* 0.5 0) into 0 6.011 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 6.012 * [taylor]: Taking taylor expansion of phi2 in phi2 6.012 * [backup-simplify]: Simplify 0 into 0 6.012 * [backup-simplify]: Simplify 1 into 1 6.012 * [backup-simplify]: Simplify (* 1 1) into 1 6.012 * [backup-simplify]: Simplify (/ 1 1) into 1 6.012 * [backup-simplify]: Simplify (+ 0) into 0 6.013 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.013 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 6.013 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 6.014 * [backup-simplify]: Simplify 0 into 0 6.014 * [taylor]: Taking taylor expansion of 0 in phi2 6.014 * [backup-simplify]: Simplify 0 into 0 6.014 * [backup-simplify]: Simplify 0 into 0 6.014 * [taylor]: Taking taylor expansion of 0 in phi2 6.014 * [backup-simplify]: Simplify 0 into 0 6.014 * [backup-simplify]: Simplify 0 into 0 6.014 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 6.014 * [backup-simplify]: Simplify (* 1 1) into 1 6.014 * [backup-simplify]: Simplify (+ 0 1) into 1 6.015 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 1) (* 0 0))) into 0 6.015 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 6.016 * [backup-simplify]: Simplify (- 0) into 0 6.016 * [backup-simplify]: Simplify (+ 1 0) into 1 6.016 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 6.016 * [taylor]: Taking taylor expansion of 0 in phi2 6.016 * [backup-simplify]: Simplify 0 into 0 6.016 * [backup-simplify]: Simplify 0 into 0 6.021 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 6.022 * [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)))))) 6.022 * [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 6.022 * [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 6.022 * [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 6.022 * [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 6.022 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 6.022 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.022 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.022 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.022 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.022 * [backup-simplify]: Simplify 0.5 into 0.5 6.022 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.022 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.022 * [taylor]: Taking taylor expansion of phi1 in phi2 6.022 * [backup-simplify]: Simplify phi1 into phi1 6.022 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.022 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.023 * [taylor]: Taking taylor expansion of phi2 in phi2 6.023 * [backup-simplify]: Simplify 0 into 0 6.023 * [backup-simplify]: Simplify 1 into 1 6.023 * [backup-simplify]: Simplify (/ 1 1) into 1 6.023 * [backup-simplify]: Simplify (+ 0 1) into 1 6.024 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.024 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.024 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 6.024 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.024 * [backup-simplify]: Simplify lambda1 into lambda1 6.024 * [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) 6.024 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 6.024 * [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)) 6.024 * [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 6.024 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 6.024 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 6.024 * [taylor]: Taking taylor expansion of phi2 in phi2 6.024 * [backup-simplify]: Simplify 0 into 0 6.024 * [backup-simplify]: Simplify 1 into 1 6.025 * [backup-simplify]: Simplify (* 1 1) into 1 6.025 * [backup-simplify]: Simplify (/ 1 1) into 1 6.025 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2 6.025 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 6.025 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.025 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.025 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.025 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.025 * [backup-simplify]: Simplify 0.5 into 0.5 6.025 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.025 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.025 * [taylor]: Taking taylor expansion of phi1 in phi2 6.025 * [backup-simplify]: Simplify phi1 into phi1 6.025 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.025 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.025 * [taylor]: Taking taylor expansion of phi2 in phi2 6.025 * [backup-simplify]: Simplify 0 into 0 6.025 * [backup-simplify]: Simplify 1 into 1 6.025 * [backup-simplify]: Simplify (/ 1 1) into 1 6.026 * [backup-simplify]: Simplify (+ 0 1) into 1 6.026 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.026 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.026 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 6.026 * [taylor]: Taking taylor expansion of lambda2 in phi2 6.026 * [backup-simplify]: Simplify lambda2 into lambda2 6.026 * [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) 6.026 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 6.027 * [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)) 6.027 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 6.027 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 6.027 * [taylor]: Taking taylor expansion of phi1 in phi2 6.027 * [backup-simplify]: Simplify phi1 into phi1 6.027 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.027 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.027 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 6.027 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 6.027 * [taylor]: Taking taylor expansion of 2 in phi2 6.027 * [backup-simplify]: Simplify 2 into 2 6.027 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 6.027 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.027 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.027 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.027 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.027 * [backup-simplify]: Simplify 0.5 into 0.5 6.027 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.027 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.027 * [taylor]: Taking taylor expansion of phi1 in phi2 6.027 * [backup-simplify]: Simplify phi1 into phi1 6.027 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.027 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.027 * [taylor]: Taking taylor expansion of phi2 in phi2 6.027 * [backup-simplify]: Simplify 0 into 0 6.027 * [backup-simplify]: Simplify 1 into 1 6.027 * [backup-simplify]: Simplify (/ 1 1) into 1 6.028 * [backup-simplify]: Simplify (+ 0 1) into 1 6.028 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.028 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.028 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 6.028 * [taylor]: Taking taylor expansion of lambda2 in phi2 6.028 * [backup-simplify]: Simplify lambda2 into lambda2 6.028 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.028 * [backup-simplify]: Simplify lambda1 into lambda1 6.028 * [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) 6.028 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 6.029 * [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)) 6.029 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 6.029 * [taylor]: Taking taylor expansion of 2 in phi2 6.029 * [backup-simplify]: Simplify 2 into 2 6.029 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 6.029 * [taylor]: Taking taylor expansion of (* phi2 phi1) 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 * [taylor]: Taking taylor expansion of phi1 in phi2 6.029 * [backup-simplify]: Simplify phi1 into phi1 6.029 * [backup-simplify]: Simplify (* 0 phi1) into 0 6.029 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 6.029 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.029 * [backup-simplify]: Simplify (+ 1 0) into 1 6.030 * [backup-simplify]: Simplify (+ 0 1) into 1 6.030 * [backup-simplify]: Simplify (+ 1 0) into 1 6.030 * [backup-simplify]: Simplify (sqrt 1) into 1 6.031 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.031 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 6.032 * [backup-simplify]: Simplify (+ 0 0) into 0 6.032 * [backup-simplify]: Simplify (+ 0 0) into 0 6.032 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 6.032 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 6.032 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 6.033 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 6.033 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 6.033 * [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 6.033 * [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 6.033 * [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 6.033 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 6.033 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.034 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.034 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.034 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.034 * [backup-simplify]: Simplify 0.5 into 0.5 6.034 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.034 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.034 * [taylor]: Taking taylor expansion of phi1 in phi1 6.034 * [backup-simplify]: Simplify 0 into 0 6.034 * [backup-simplify]: Simplify 1 into 1 6.034 * [backup-simplify]: Simplify (/ 1 1) into 1 6.034 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.034 * [taylor]: Taking taylor expansion of phi2 in phi1 6.034 * [backup-simplify]: Simplify phi2 into phi2 6.034 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.035 * [backup-simplify]: Simplify (+ 1 0) into 1 6.035 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.035 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.035 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 6.035 * [taylor]: Taking taylor expansion of lambda1 in phi1 6.036 * [backup-simplify]: Simplify lambda1 into lambda1 6.036 * [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) 6.036 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 6.036 * [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)) 6.036 * [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 6.036 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 6.037 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 6.037 * [taylor]: Taking taylor expansion of phi2 in phi1 6.037 * [backup-simplify]: Simplify phi2 into phi2 6.037 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.037 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.037 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1 6.037 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 6.037 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.037 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.037 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.037 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.037 * [backup-simplify]: Simplify 0.5 into 0.5 6.037 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.037 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.037 * [taylor]: Taking taylor expansion of phi1 in phi1 6.037 * [backup-simplify]: Simplify 0 into 0 6.037 * [backup-simplify]: Simplify 1 into 1 6.038 * [backup-simplify]: Simplify (/ 1 1) into 1 6.038 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.038 * [taylor]: Taking taylor expansion of phi2 in phi1 6.038 * [backup-simplify]: Simplify phi2 into phi2 6.038 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.038 * [backup-simplify]: Simplify (+ 1 0) into 1 6.039 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.039 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.039 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 6.039 * [taylor]: Taking taylor expansion of lambda2 in phi1 6.039 * [backup-simplify]: Simplify lambda2 into lambda2 6.039 * [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) 6.039 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 6.040 * [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)) 6.040 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 6.040 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 6.040 * [taylor]: Taking taylor expansion of phi1 in phi1 6.040 * [backup-simplify]: Simplify 0 into 0 6.040 * [backup-simplify]: Simplify 1 into 1 6.040 * [backup-simplify]: Simplify (* 1 1) into 1 6.041 * [backup-simplify]: Simplify (/ 1 1) into 1 6.041 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 6.041 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 6.041 * [taylor]: Taking taylor expansion of 2 in phi1 6.041 * [backup-simplify]: Simplify 2 into 2 6.041 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 6.041 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.041 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.041 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.041 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.041 * [backup-simplify]: Simplify 0.5 into 0.5 6.041 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.041 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.041 * [taylor]: Taking taylor expansion of phi1 in phi1 6.041 * [backup-simplify]: Simplify 0 into 0 6.041 * [backup-simplify]: Simplify 1 into 1 6.042 * [backup-simplify]: Simplify (/ 1 1) into 1 6.042 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.042 * [taylor]: Taking taylor expansion of phi2 in phi1 6.042 * [backup-simplify]: Simplify phi2 into phi2 6.042 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.042 * [backup-simplify]: Simplify (+ 1 0) into 1 6.043 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.043 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.043 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 6.043 * [taylor]: Taking taylor expansion of lambda2 in phi1 6.043 * [backup-simplify]: Simplify lambda2 into lambda2 6.043 * [taylor]: Taking taylor expansion of lambda1 in phi1 6.043 * [backup-simplify]: Simplify lambda1 into lambda1 6.044 * [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) 6.044 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 6.044 * [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)) 6.044 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 6.044 * [taylor]: Taking taylor expansion of 2 in phi1 6.044 * [backup-simplify]: Simplify 2 into 2 6.044 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 6.044 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 6.044 * [taylor]: Taking taylor expansion of phi2 in phi1 6.044 * [backup-simplify]: Simplify phi2 into phi2 6.044 * [taylor]: Taking taylor expansion of phi1 in phi1 6.044 * [backup-simplify]: Simplify 0 into 0 6.044 * [backup-simplify]: Simplify 1 into 1 6.044 * [backup-simplify]: Simplify (* phi2 0) into 0 6.045 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 6.045 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.045 * [backup-simplify]: Simplify (+ 0 1) into 1 6.046 * [backup-simplify]: Simplify (+ 0 1) into 1 6.046 * [backup-simplify]: Simplify (+ 0 1) into 1 6.047 * [backup-simplify]: Simplify (+ 1 0) into 1 6.047 * [backup-simplify]: Simplify (sqrt 1) into 1 6.048 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.048 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 6.049 * [backup-simplify]: Simplify (+ 0 0) into 0 6.049 * [backup-simplify]: Simplify (+ 0 0) into 0 6.050 * [backup-simplify]: Simplify (+ 0 0) into 0 6.050 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 6.050 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 6.050 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 6.050 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 6.051 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 6.051 * [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 6.051 * [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 6.051 * [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 6.051 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 6.051 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.051 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.051 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.051 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.051 * [backup-simplify]: Simplify 0.5 into 0.5 6.051 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.051 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.051 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.051 * [backup-simplify]: Simplify phi1 into phi1 6.051 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.051 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.051 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.051 * [backup-simplify]: Simplify phi2 into phi2 6.051 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.052 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.052 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.052 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.052 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.052 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.053 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.053 * [backup-simplify]: Simplify (- 0) into 0 6.053 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.053 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 6.053 * [taylor]: Taking taylor expansion of lambda1 in lambda2 6.053 * [backup-simplify]: Simplify lambda1 into lambda1 6.054 * [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) 6.054 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 6.054 * [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)) 6.054 * [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 6.054 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 6.054 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 6.054 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.054 * [backup-simplify]: Simplify phi2 into phi2 6.054 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.055 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.055 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2 6.055 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 6.055 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.055 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.055 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.055 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.055 * [backup-simplify]: Simplify 0.5 into 0.5 6.055 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.055 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.055 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.055 * [backup-simplify]: Simplify phi1 into phi1 6.055 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.055 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.055 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.055 * [backup-simplify]: Simplify phi2 into phi2 6.055 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.055 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.055 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.056 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.056 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.056 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.056 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.057 * [backup-simplify]: Simplify (- 0) into 0 6.057 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.057 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 6.057 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.057 * [backup-simplify]: Simplify 0 into 0 6.057 * [backup-simplify]: Simplify 1 into 1 6.057 * [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) 6.058 * [backup-simplify]: Simplify (* 1 1) into 1 6.058 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.058 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 6.058 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 6.058 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.058 * [backup-simplify]: Simplify phi1 into phi1 6.058 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.059 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.059 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 6.059 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 6.059 * [taylor]: Taking taylor expansion of 2 in lambda2 6.059 * [backup-simplify]: Simplify 2 into 2 6.059 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 6.059 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.059 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.059 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.059 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.059 * [backup-simplify]: Simplify 0.5 into 0.5 6.059 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.059 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.059 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.059 * [backup-simplify]: Simplify phi1 into phi1 6.059 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.059 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.059 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.059 * [backup-simplify]: Simplify phi2 into phi2 6.059 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.059 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.060 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.060 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.060 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.060 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.060 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.060 * [backup-simplify]: Simplify (- 0) into 0 6.060 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.060 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 6.060 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.060 * [backup-simplify]: Simplify 0 into 0 6.060 * [backup-simplify]: Simplify 1 into 1 6.061 * [taylor]: Taking taylor expansion of lambda1 in lambda2 6.061 * [backup-simplify]: Simplify lambda1 into lambda1 6.061 * [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) 6.061 * [backup-simplify]: Simplify (* 0 lambda1) into 0 6.061 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 6.061 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 6.061 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 6.061 * [taylor]: Taking taylor expansion of 2 in lambda2 6.061 * [backup-simplify]: Simplify 2 into 2 6.061 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 6.061 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 6.061 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.061 * [backup-simplify]: Simplify phi2 into phi2 6.061 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.061 * [backup-simplify]: Simplify phi1 into phi1 6.061 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 6.062 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 6.062 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.062 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.062 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.062 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.063 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.063 * [backup-simplify]: Simplify (+ 0) into 0 6.063 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.063 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.063 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.064 * [backup-simplify]: Simplify (+ 0 0) into 0 6.064 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.065 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.065 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.065 * [backup-simplify]: Simplify (- 0) into 0 6.066 * [backup-simplify]: Simplify (+ 0 0) into 0 6.066 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.066 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.067 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 6.067 * [backup-simplify]: Simplify (+ 0 0) into 0 6.068 * [backup-simplify]: Simplify (+ 0 0) into 0 6.068 * [backup-simplify]: Simplify (+ 0 0) into 0 6.068 * [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)) 6.069 * [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)) 6.069 * [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))) 6.069 * [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))) 6.070 * [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)) 6.070 * [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 6.070 * [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 6.070 * [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 6.070 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 6.070 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.070 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.070 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.070 * [taylor]: Taking taylor expansion of 0.5 in lambda1 6.070 * [backup-simplify]: Simplify 0.5 into 0.5 6.070 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.070 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.070 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.070 * [backup-simplify]: Simplify phi1 into phi1 6.070 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.070 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.070 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.070 * [backup-simplify]: Simplify phi2 into phi2 6.070 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.070 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.070 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.070 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.070 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.071 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.071 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.071 * [backup-simplify]: Simplify (- 0) into 0 6.071 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.071 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 6.071 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.071 * [backup-simplify]: Simplify 0 into 0 6.071 * [backup-simplify]: Simplify 1 into 1 6.071 * [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) 6.072 * [backup-simplify]: Simplify (* 1 1) into 1 6.072 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.072 * [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 6.072 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 6.072 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 6.072 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.072 * [backup-simplify]: Simplify phi2 into phi2 6.072 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.072 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.072 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 6.072 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 6.072 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.072 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.072 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.072 * [taylor]: Taking taylor expansion of 0.5 in lambda1 6.072 * [backup-simplify]: Simplify 0.5 into 0.5 6.072 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.072 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.072 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.072 * [backup-simplify]: Simplify phi1 into phi1 6.073 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.073 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.073 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.073 * [backup-simplify]: Simplify phi2 into phi2 6.073 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.073 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.073 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.073 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.073 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.073 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.073 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.074 * [backup-simplify]: Simplify (- 0) into 0 6.074 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.074 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 6.074 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.074 * [backup-simplify]: Simplify lambda2 into lambda2 6.074 * [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) 6.074 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 6.074 * [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)) 6.074 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 6.074 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 6.074 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.074 * [backup-simplify]: Simplify phi1 into phi1 6.074 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.074 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.074 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 6.074 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 6.074 * [taylor]: Taking taylor expansion of 2 in lambda1 6.075 * [backup-simplify]: Simplify 2 into 2 6.075 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 6.075 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.075 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.075 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.075 * [taylor]: Taking taylor expansion of 0.5 in lambda1 6.075 * [backup-simplify]: Simplify 0.5 into 0.5 6.075 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.075 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.075 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.075 * [backup-simplify]: Simplify phi1 into phi1 6.075 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.075 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.075 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.075 * [backup-simplify]: Simplify phi2 into phi2 6.075 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.075 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.075 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.075 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.075 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.075 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.075 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.076 * [backup-simplify]: Simplify (- 0) into 0 6.076 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.076 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 6.076 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.076 * [backup-simplify]: Simplify lambda2 into lambda2 6.076 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.076 * [backup-simplify]: Simplify 0 into 0 6.076 * [backup-simplify]: Simplify 1 into 1 6.076 * [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) 6.076 * [backup-simplify]: Simplify (* lambda2 0) into 0 6.077 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 6.077 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 6.077 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 6.077 * [taylor]: Taking taylor expansion of 2 in lambda1 6.077 * [backup-simplify]: Simplify 2 into 2 6.077 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 6.077 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 6.077 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.077 * [backup-simplify]: Simplify phi2 into phi2 6.077 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.077 * [backup-simplify]: Simplify phi1 into phi1 6.077 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 6.077 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 6.077 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.077 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.078 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.078 * [backup-simplify]: Simplify (+ 0) into 0 6.078 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.078 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.079 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.079 * [backup-simplify]: Simplify (+ 0 0) into 0 6.079 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.080 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.080 * [backup-simplify]: Simplify (- 0) into 0 6.081 * [backup-simplify]: Simplify (+ 0 0) into 0 6.081 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.081 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.082 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 6.082 * [backup-simplify]: Simplify (+ 0 0) into 0 6.083 * [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)) 6.083 * [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)) 6.083 * [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))) 6.084 * [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))) 6.084 * [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)) 6.084 * [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 6.084 * [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 6.084 * [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 6.085 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 6.085 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.085 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.085 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.085 * [taylor]: Taking taylor expansion of 0.5 in lambda1 6.085 * [backup-simplify]: Simplify 0.5 into 0.5 6.085 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.085 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.085 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.085 * [backup-simplify]: Simplify phi1 into phi1 6.085 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.085 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.085 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.085 * [backup-simplify]: Simplify phi2 into phi2 6.085 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.085 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.085 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.086 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.086 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.086 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.087 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.087 * [backup-simplify]: Simplify (- 0) into 0 6.088 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.088 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 6.088 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.088 * [backup-simplify]: Simplify 0 into 0 6.088 * [backup-simplify]: Simplify 1 into 1 6.088 * [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) 6.089 * [backup-simplify]: Simplify (* 1 1) into 1 6.089 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.089 * [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 6.089 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 6.089 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 6.090 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.090 * [backup-simplify]: Simplify phi2 into phi2 6.090 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.090 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.090 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 6.090 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 6.090 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.090 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.090 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.090 * [taylor]: Taking taylor expansion of 0.5 in lambda1 6.090 * [backup-simplify]: Simplify 0.5 into 0.5 6.090 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.090 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.090 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.090 * [backup-simplify]: Simplify phi1 into phi1 6.090 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.090 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.090 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.090 * [backup-simplify]: Simplify phi2 into phi2 6.090 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.091 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.091 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.091 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.091 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.091 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.092 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.092 * [backup-simplify]: Simplify (- 0) into 0 6.092 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.092 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 6.092 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.092 * [backup-simplify]: Simplify lambda2 into lambda2 6.093 * [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) 6.093 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 6.093 * [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)) 6.093 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 6.093 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 6.093 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.093 * [backup-simplify]: Simplify phi1 into phi1 6.093 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.094 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.094 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 6.094 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 6.094 * [taylor]: Taking taylor expansion of 2 in lambda1 6.094 * [backup-simplify]: Simplify 2 into 2 6.094 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 6.094 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.094 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.094 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.094 * [taylor]: Taking taylor expansion of 0.5 in lambda1 6.094 * [backup-simplify]: Simplify 0.5 into 0.5 6.094 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.094 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.094 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.094 * [backup-simplify]: Simplify phi1 into phi1 6.094 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.094 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.094 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.094 * [backup-simplify]: Simplify phi2 into phi2 6.094 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.094 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.094 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.095 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.095 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.095 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.095 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.096 * [backup-simplify]: Simplify (- 0) into 0 6.096 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.096 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 6.096 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.096 * [backup-simplify]: Simplify lambda2 into lambda2 6.096 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.096 * [backup-simplify]: Simplify 0 into 0 6.096 * [backup-simplify]: Simplify 1 into 1 6.096 * [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) 6.096 * [backup-simplify]: Simplify (* lambda2 0) into 0 6.097 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 6.097 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 6.097 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 6.097 * [taylor]: Taking taylor expansion of 2 in lambda1 6.097 * [backup-simplify]: Simplify 2 into 2 6.097 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 6.097 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 6.097 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.097 * [backup-simplify]: Simplify phi2 into phi2 6.097 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.097 * [backup-simplify]: Simplify phi1 into phi1 6.098 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 6.098 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 6.098 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.098 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.099 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.099 * [backup-simplify]: Simplify (+ 0) into 0 6.100 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.100 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.100 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.100 * [backup-simplify]: Simplify (+ 0 0) into 0 6.101 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.102 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.103 * [backup-simplify]: Simplify (- 0) into 0 6.103 * [backup-simplify]: Simplify (+ 0 0) into 0 6.103 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.104 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.105 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 6.106 * [backup-simplify]: Simplify (+ 0 0) into 0 6.106 * [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)) 6.107 * [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)) 6.107 * [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))) 6.107 * [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))) 6.108 * [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)) 6.108 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.108 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.108 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.108 * [backup-simplify]: Simplify 0.5 into 0.5 6.108 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.109 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.109 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.109 * [backup-simplify]: Simplify phi1 into phi1 6.109 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.109 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.109 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.109 * [backup-simplify]: Simplify phi2 into phi2 6.109 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.109 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.109 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.109 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.109 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.109 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 6.109 * [taylor]: Taking taylor expansion of -1 in lambda2 6.110 * [backup-simplify]: Simplify -1 into -1 6.110 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 6.110 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.110 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.110 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.110 * [backup-simplify]: Simplify 0.5 into 0.5 6.110 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.110 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.110 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.110 * [backup-simplify]: Simplify phi1 into phi1 6.110 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.110 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.110 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.110 * [backup-simplify]: Simplify phi2 into phi2 6.110 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.110 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.110 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.110 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.111 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.111 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.111 * [backup-simplify]: Simplify 0 into 0 6.111 * [backup-simplify]: Simplify 1 into 1 6.111 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.111 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.112 * [backup-simplify]: Simplify (- 0) into 0 6.112 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.112 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.112 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.112 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 6.112 * [taylor]: Taking taylor expansion of -1 in phi1 6.112 * [backup-simplify]: Simplify -1 into -1 6.112 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.112 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.112 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.113 * [backup-simplify]: Simplify 0.5 into 0.5 6.113 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.113 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.113 * [taylor]: Taking taylor expansion of phi1 in phi1 6.113 * [backup-simplify]: Simplify 0 into 0 6.113 * [backup-simplify]: Simplify 1 into 1 6.113 * [backup-simplify]: Simplify (/ 1 1) into 1 6.113 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.113 * [taylor]: Taking taylor expansion of phi2 in phi1 6.113 * [backup-simplify]: Simplify phi2 into phi2 6.113 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.114 * [backup-simplify]: Simplify (+ 1 0) into 1 6.114 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.114 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.115 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.115 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.115 * [backup-simplify]: Simplify (- 0) into 0 6.115 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.115 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.115 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.115 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.115 * [backup-simplify]: Simplify 0.5 into 0.5 6.115 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.115 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.116 * [taylor]: Taking taylor expansion of phi1 in phi1 6.116 * [backup-simplify]: Simplify 0 into 0 6.116 * [backup-simplify]: Simplify 1 into 1 6.116 * [backup-simplify]: Simplify (/ 1 1) into 1 6.116 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.116 * [taylor]: Taking taylor expansion of phi2 in phi1 6.116 * [backup-simplify]: Simplify phi2 into phi2 6.116 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.117 * [backup-simplify]: Simplify (+ 1 0) into 1 6.117 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.117 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.118 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.119 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 6.119 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.119 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.120 * [backup-simplify]: Simplify (+ 0 0) into 0 6.120 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.121 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.121 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.122 * [backup-simplify]: Simplify (- 0) into 0 6.122 * [backup-simplify]: Simplify (+ 0 0) into 0 6.122 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 6.123 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 6.124 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.124 * [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))) 6.125 * [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)))) 6.125 * [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)))) 6.125 * [backup-simplify]: Simplify (+ 0) into 0 6.126 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.126 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.126 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.126 * [backup-simplify]: Simplify (+ 0 0) into 0 6.126 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.127 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.127 * [backup-simplify]: Simplify (- 0) into 0 6.128 * [backup-simplify]: Simplify (+ 0 0) into 0 6.128 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.128 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 6.129 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 6.129 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 6.129 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 6.129 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 6.129 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 6.130 * [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)))) 6.131 * [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)))))) 6.131 * [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 6.131 * [taylor]: Taking taylor expansion of 1/2 in lambda2 6.131 * [backup-simplify]: Simplify 1/2 into 1/2 6.131 * [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 6.131 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 6.131 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 6.131 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 6.131 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 6.131 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.131 * [backup-simplify]: Simplify phi2 into phi2 6.131 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.132 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.132 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 6.132 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 6.132 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.132 * [backup-simplify]: Simplify phi1 into phi1 6.132 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.132 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.132 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 6.132 * [taylor]: Taking taylor expansion of 2 in lambda2 6.132 * [backup-simplify]: Simplify 2 into 2 6.132 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 6.132 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 6.132 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.132 * [backup-simplify]: Simplify phi2 into phi2 6.132 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.132 * [backup-simplify]: Simplify phi1 into phi1 6.132 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 6.132 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 6.132 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.132 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.132 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.132 * [backup-simplify]: Simplify 0.5 into 0.5 6.132 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.132 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.132 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.132 * [backup-simplify]: Simplify phi1 into phi1 6.132 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.132 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.132 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.132 * [backup-simplify]: Simplify phi2 into phi2 6.132 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.132 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.132 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.133 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.133 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.133 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 6.133 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 6.133 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 6.133 * [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)))) 6.133 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.133 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.134 * [backup-simplify]: Simplify (- 0) into 0 6.134 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.134 * [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))))) 6.135 * [backup-simplify]: Simplify (+ 0) into 0 6.135 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.135 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.135 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.135 * [backup-simplify]: Simplify (+ 0 0) into 0 6.136 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.137 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.137 * [backup-simplify]: Simplify (- 0) into 0 6.137 * [backup-simplify]: Simplify (+ 0 0) into 0 6.138 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 6.138 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.138 * [taylor]: Taking taylor expansion of 0 in phi1 6.138 * [backup-simplify]: Simplify 0 into 0 6.138 * [backup-simplify]: Simplify (+ 0) into 0 6.139 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.139 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.139 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.139 * [backup-simplify]: Simplify (+ 0 0) into 0 6.139 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.140 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.140 * [backup-simplify]: Simplify (- 0) into 0 6.141 * [backup-simplify]: Simplify (+ 0 0) into 0 6.141 * [taylor]: Taking taylor expansion of 0 in phi1 6.141 * [backup-simplify]: Simplify 0 into 0 6.141 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.141 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 6.141 * [taylor]: Taking taylor expansion of -1 in phi2 6.141 * [backup-simplify]: Simplify -1 into -1 6.141 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.141 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.141 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.141 * [backup-simplify]: Simplify 0.5 into 0.5 6.141 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.141 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.141 * [taylor]: Taking taylor expansion of phi1 in phi2 6.141 * [backup-simplify]: Simplify phi1 into phi1 6.141 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.141 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.141 * [taylor]: Taking taylor expansion of phi2 in phi2 6.141 * [backup-simplify]: Simplify 0 into 0 6.141 * [backup-simplify]: Simplify 1 into 1 6.141 * [backup-simplify]: Simplify (/ 1 1) into 1 6.142 * [backup-simplify]: Simplify (+ 0 1) into 1 6.142 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.142 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.142 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.142 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.142 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.142 * [backup-simplify]: Simplify 0.5 into 0.5 6.142 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.142 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.142 * [taylor]: Taking taylor expansion of phi1 in phi2 6.142 * [backup-simplify]: Simplify phi1 into phi1 6.142 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.142 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.142 * [taylor]: Taking taylor expansion of phi2 in phi2 6.142 * [backup-simplify]: Simplify 0 into 0 6.142 * [backup-simplify]: Simplify 1 into 1 6.143 * [backup-simplify]: Simplify (/ 1 1) into 1 6.143 * [backup-simplify]: Simplify (+ 0 1) into 1 6.143 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.143 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.144 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.144 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.145 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.145 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.145 * [backup-simplify]: Simplify (+ 0 0) into 0 6.146 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.147 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.147 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.147 * [backup-simplify]: Simplify (- 0) into 0 6.147 * [backup-simplify]: Simplify (+ 0 0) into 0 6.149 * [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 6.150 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.152 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.152 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 6.152 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 6.153 * [backup-simplify]: Simplify (+ 0) into 0 6.161 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.161 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.161 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.162 * [backup-simplify]: Simplify (+ 0 0) into 0 6.163 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.164 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.164 * [backup-simplify]: Simplify (- 0) into 0 6.165 * [backup-simplify]: Simplify (+ 0 0) into 0 6.165 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.165 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 6.166 * [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 6.166 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 6.167 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 6.167 * [backup-simplify]: Simplify (+ 0 0) into 0 6.167 * [backup-simplify]: Simplify (+ 0 0) into 0 6.168 * [backup-simplify]: Simplify (+ 0 0) into 0 6.169 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.170 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 6.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.170 * [backup-simplify]: Simplify (+ 0 0) into 0 6.171 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.172 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.173 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.173 * [backup-simplify]: Simplify (- 0) into 0 6.174 * [backup-simplify]: Simplify (+ 0 0) into 0 6.174 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 6.175 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 6.176 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 6.177 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 6.177 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 6.177 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 6.178 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 6.178 * [backup-simplify]: Simplify (+ 0 0) into 0 6.178 * [backup-simplify]: Simplify (- 0) into 0 6.179 * [backup-simplify]: Simplify (+ 0 0) into 0 6.180 * [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)))))) 6.180 * [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 6.181 * [taylor]: Taking taylor expansion of 1/2 in lambda2 6.181 * [backup-simplify]: Simplify 1/2 into 1/2 6.181 * [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 6.181 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 6.181 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 6.181 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 6.181 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 6.181 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.181 * [backup-simplify]: Simplify 0 into 0 6.181 * [backup-simplify]: Simplify 1 into 1 6.181 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 6.181 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.181 * [backup-simplify]: Simplify phi1 into phi1 6.181 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.181 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 6.181 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 6.182 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 6.182 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.182 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 6.182 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 6.183 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 6.183 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.183 * [backup-simplify]: Simplify phi2 into phi2 6.183 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.183 * [backup-simplify]: Simplify 0 into 0 6.183 * [backup-simplify]: Simplify 1 into 1 6.183 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.183 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 6.183 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 6.183 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 6.184 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.184 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 6.184 * [taylor]: Taking taylor expansion of 2 in lambda2 6.184 * [backup-simplify]: Simplify 2 into 2 6.184 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 6.184 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 6.184 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.184 * [backup-simplify]: Simplify phi2 into phi2 6.184 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 6.184 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.184 * [backup-simplify]: Simplify 0 into 0 6.184 * [backup-simplify]: Simplify 1 into 1 6.184 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.184 * [backup-simplify]: Simplify phi1 into phi1 6.184 * [backup-simplify]: Simplify (* 0 phi1) into 0 6.184 * [backup-simplify]: Simplify (* phi2 0) into 0 6.185 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 6.185 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 6.185 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 6.185 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.185 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.185 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.185 * [backup-simplify]: Simplify 0.5 into 0.5 6.185 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.185 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.185 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.185 * [backup-simplify]: Simplify phi1 into phi1 6.185 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.185 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.185 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.185 * [backup-simplify]: Simplify phi2 into phi2 6.186 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.186 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.186 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.186 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.186 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.187 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 6.187 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 6.187 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 6.187 * [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)))) 6.187 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.188 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.188 * [backup-simplify]: Simplify (- 0) into 0 6.188 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.189 * [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))))) 6.190 * [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)))))) 6.190 * [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 6.190 * [taylor]: Taking taylor expansion of 1/2 in phi1 6.190 * [backup-simplify]: Simplify 1/2 into 1/2 6.190 * [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 6.190 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 6.190 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 6.190 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 6.190 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 6.190 * [taylor]: Taking taylor expansion of phi2 in phi1 6.190 * [backup-simplify]: Simplify phi2 into phi2 6.190 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.190 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.190 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 6.190 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 6.190 * [taylor]: Taking taylor expansion of phi1 in phi1 6.190 * [backup-simplify]: Simplify 0 into 0 6.190 * [backup-simplify]: Simplify 1 into 1 6.191 * [backup-simplify]: Simplify (* 1 1) into 1 6.191 * [backup-simplify]: Simplify (/ 1 1) into 1 6.191 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 6.191 * [taylor]: Taking taylor expansion of 2 in phi1 6.191 * [backup-simplify]: Simplify 2 into 2 6.191 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 6.191 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 6.191 * [taylor]: Taking taylor expansion of phi2 in phi1 6.191 * [backup-simplify]: Simplify phi2 into phi2 6.191 * [taylor]: Taking taylor expansion of phi1 in phi1 6.191 * [backup-simplify]: Simplify 0 into 0 6.191 * [backup-simplify]: Simplify 1 into 1 6.192 * [backup-simplify]: Simplify (* phi2 0) into 0 6.192 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 6.192 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.192 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.192 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.192 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.192 * [backup-simplify]: Simplify 0.5 into 0.5 6.192 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.192 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.192 * [taylor]: Taking taylor expansion of phi1 in phi1 6.192 * [backup-simplify]: Simplify 0 into 0 6.192 * [backup-simplify]: Simplify 1 into 1 6.193 * [backup-simplify]: Simplify (/ 1 1) into 1 6.193 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.193 * [taylor]: Taking taylor expansion of phi2 in phi1 6.193 * [backup-simplify]: Simplify phi2 into phi2 6.193 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.193 * [backup-simplify]: Simplify (+ 1 0) into 1 6.194 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.194 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.194 * [backup-simplify]: Simplify (+ 0 1) into 1 6.195 * [backup-simplify]: Simplify (+ 1 0) into 1 6.195 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.196 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.196 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 6.197 * [backup-simplify]: Simplify (+ 0 0) into 0 6.197 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 6.197 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 6.197 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 6.198 * [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)))))))) 6.198 * [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))))))) 6.198 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 6.198 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 6.198 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 6.198 * [taylor]: Taking taylor expansion of phi2 in phi2 6.199 * [backup-simplify]: Simplify 0 into 0 6.199 * [backup-simplify]: Simplify 1 into 1 6.199 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.199 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.199 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.199 * [backup-simplify]: Simplify 0.5 into 0.5 6.199 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.199 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.199 * [taylor]: Taking taylor expansion of phi1 in phi2 6.199 * [backup-simplify]: Simplify phi1 into phi1 6.199 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.199 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.199 * [taylor]: Taking taylor expansion of phi2 in phi2 6.199 * [backup-simplify]: Simplify 0 into 0 6.199 * [backup-simplify]: Simplify 1 into 1 6.199 * [backup-simplify]: Simplify (/ 1 1) into 1 6.200 * [backup-simplify]: Simplify (+ 0 1) into 1 6.200 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.200 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.201 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.201 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.201 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.202 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 6.202 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 6.203 * [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)))))) 6.203 * [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 6.203 * [taylor]: Taking taylor expansion of 1/2 in phi1 6.203 * [backup-simplify]: Simplify 1/2 into 1/2 6.203 * [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 6.203 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 6.203 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 6.203 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 6.203 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 6.203 * [taylor]: Taking taylor expansion of phi2 in phi1 6.203 * [backup-simplify]: Simplify phi2 into phi2 6.203 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.203 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.203 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 6.203 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 6.203 * [taylor]: Taking taylor expansion of phi1 in phi1 6.203 * [backup-simplify]: Simplify 0 into 0 6.203 * [backup-simplify]: Simplify 1 into 1 6.204 * [backup-simplify]: Simplify (* 1 1) into 1 6.204 * [backup-simplify]: Simplify (/ 1 1) into 1 6.204 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 6.204 * [taylor]: Taking taylor expansion of 2 in phi1 6.204 * [backup-simplify]: Simplify 2 into 2 6.204 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 6.204 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 6.204 * [taylor]: Taking taylor expansion of phi2 in phi1 6.205 * [backup-simplify]: Simplify phi2 into phi2 6.205 * [taylor]: Taking taylor expansion of phi1 in phi1 6.205 * [backup-simplify]: Simplify 0 into 0 6.205 * [backup-simplify]: Simplify 1 into 1 6.205 * [backup-simplify]: Simplify (* phi2 0) into 0 6.205 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 6.205 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.205 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.205 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.205 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.205 * [backup-simplify]: Simplify 0.5 into 0.5 6.205 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.205 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.205 * [taylor]: Taking taylor expansion of phi1 in phi1 6.205 * [backup-simplify]: Simplify 0 into 0 6.205 * [backup-simplify]: Simplify 1 into 1 6.206 * [backup-simplify]: Simplify (/ 1 1) into 1 6.206 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.206 * [taylor]: Taking taylor expansion of phi2 in phi1 6.206 * [backup-simplify]: Simplify phi2 into phi2 6.206 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.206 * [backup-simplify]: Simplify (+ 1 0) into 1 6.207 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.207 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.207 * [backup-simplify]: Simplify (+ 0 1) into 1 6.208 * [backup-simplify]: Simplify (+ 1 0) into 1 6.208 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.209 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.210 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 6.210 * [backup-simplify]: Simplify (+ 0 0) into 0 6.210 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 6.210 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 6.210 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 6.211 * [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)))))))) 6.212 * [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))))))) 6.212 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 6.212 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 6.212 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 6.212 * [taylor]: Taking taylor expansion of phi2 in phi2 6.212 * [backup-simplify]: Simplify 0 into 0 6.212 * [backup-simplify]: Simplify 1 into 1 6.212 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.212 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.212 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.212 * [backup-simplify]: Simplify 0.5 into 0.5 6.212 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.212 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.212 * [taylor]: Taking taylor expansion of phi1 in phi2 6.212 * [backup-simplify]: Simplify phi1 into phi1 6.212 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.212 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.212 * [taylor]: Taking taylor expansion of phi2 in phi2 6.212 * [backup-simplify]: Simplify 0 into 0 6.212 * [backup-simplify]: Simplify 1 into 1 6.213 * [backup-simplify]: Simplify (/ 1 1) into 1 6.213 * [backup-simplify]: Simplify (+ 0 1) into 1 6.213 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.214 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.214 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.214 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.215 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.215 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 6.215 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 6.216 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.217 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 6.217 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.217 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.218 * [backup-simplify]: Simplify (+ 0 0) into 0 6.219 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.219 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.220 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.220 * [backup-simplify]: Simplify (- 0) into 0 6.221 * [backup-simplify]: Simplify (+ 0 0) into 0 6.222 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.223 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 6.223 * [taylor]: Taking taylor expansion of 0 in phi1 6.223 * [backup-simplify]: Simplify 0 into 0 6.224 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.225 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 6.226 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.226 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.226 * [backup-simplify]: Simplify (+ 0 0) into 0 6.227 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.228 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.229 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.229 * [backup-simplify]: Simplify (- 0) into 0 6.229 * [backup-simplify]: Simplify (+ 0 0) into 0 6.229 * [taylor]: Taking taylor expansion of 0 in phi1 6.230 * [backup-simplify]: Simplify 0 into 0 6.230 * [taylor]: Taking taylor expansion of 0 in phi2 6.230 * [backup-simplify]: Simplify 0 into 0 6.230 * [taylor]: Taking taylor expansion of 0 in phi2 6.230 * [backup-simplify]: Simplify 0 into 0 6.230 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.230 * [taylor]: Taking taylor expansion of 0 in phi2 6.230 * [backup-simplify]: Simplify 0 into 0 6.230 * [taylor]: Taking taylor expansion of 0 in phi2 6.230 * [backup-simplify]: Simplify 0 into 0 6.231 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.231 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.233 * [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))))))) 6.235 * [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)))))) 6.235 * [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 6.235 * [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 6.235 * [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 6.235 * [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 6.235 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 6.235 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 6.235 * [taylor]: Taking taylor expansion of phi2 in phi2 6.235 * [backup-simplify]: Simplify 0 into 0 6.235 * [backup-simplify]: Simplify 1 into 1 6.236 * [backup-simplify]: Simplify (* 1 1) into 1 6.236 * [backup-simplify]: Simplify (/ 1 1) into 1 6.236 * [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 6.236 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 6.236 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.236 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.237 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.237 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.237 * [backup-simplify]: Simplify -0.5 into -0.5 6.237 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.237 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.237 * [taylor]: Taking taylor expansion of phi1 in phi2 6.237 * [backup-simplify]: Simplify phi1 into phi1 6.237 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.237 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.237 * [taylor]: Taking taylor expansion of phi2 in phi2 6.237 * [backup-simplify]: Simplify 0 into 0 6.237 * [backup-simplify]: Simplify 1 into 1 6.237 * [backup-simplify]: Simplify (/ 1 1) into 1 6.238 * [backup-simplify]: Simplify (+ 0 1) into 1 6.238 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.238 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.238 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 6.239 * [taylor]: Taking taylor expansion of lambda2 in phi2 6.239 * [backup-simplify]: Simplify lambda2 into lambda2 6.239 * [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) 6.239 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 6.239 * [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)) 6.240 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 6.240 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 6.240 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.240 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.240 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.240 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.240 * [backup-simplify]: Simplify -0.5 into -0.5 6.240 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.240 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.240 * [taylor]: Taking taylor expansion of phi1 in phi2 6.240 * [backup-simplify]: Simplify phi1 into phi1 6.240 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.240 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.240 * [taylor]: Taking taylor expansion of phi2 in phi2 6.240 * [backup-simplify]: Simplify 0 into 0 6.240 * [backup-simplify]: Simplify 1 into 1 6.241 * [backup-simplify]: Simplify (/ 1 1) into 1 6.241 * [backup-simplify]: Simplify (+ 0 1) into 1 6.241 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.242 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.242 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 6.242 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.242 * [backup-simplify]: Simplify lambda1 into lambda1 6.242 * [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) 6.242 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 6.243 * [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)) 6.243 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 6.243 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 6.243 * [taylor]: Taking taylor expansion of phi1 in phi2 6.243 * [backup-simplify]: Simplify phi1 into phi1 6.243 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.243 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.243 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 6.243 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 6.243 * [taylor]: Taking taylor expansion of 2 in phi2 6.243 * [backup-simplify]: Simplify 2 into 2 6.243 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 6.243 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.243 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.244 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.244 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.244 * [backup-simplify]: Simplify -0.5 into -0.5 6.244 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.244 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.244 * [taylor]: Taking taylor expansion of phi1 in phi2 6.244 * [backup-simplify]: Simplify phi1 into phi1 6.244 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.244 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.244 * [taylor]: Taking taylor expansion of phi2 in phi2 6.244 * [backup-simplify]: Simplify 0 into 0 6.244 * [backup-simplify]: Simplify 1 into 1 6.244 * [backup-simplify]: Simplify (/ 1 1) into 1 6.245 * [backup-simplify]: Simplify (+ 0 1) into 1 6.245 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.245 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.246 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 6.246 * [taylor]: Taking taylor expansion of lambda2 in phi2 6.246 * [backup-simplify]: Simplify lambda2 into lambda2 6.246 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.246 * [backup-simplify]: Simplify lambda1 into lambda1 6.246 * [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) 6.246 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 6.246 * [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)) 6.247 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 6.247 * [taylor]: Taking taylor expansion of 2 in phi2 6.247 * [backup-simplify]: Simplify 2 into 2 6.247 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 6.247 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 6.247 * [taylor]: Taking taylor expansion of phi2 in phi2 6.247 * [backup-simplify]: Simplify 0 into 0 6.247 * [backup-simplify]: Simplify 1 into 1 6.247 * [taylor]: Taking taylor expansion of phi1 in phi2 6.247 * [backup-simplify]: Simplify phi1 into phi1 6.247 * [backup-simplify]: Simplify (* 0 phi1) into 0 6.247 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 6.247 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.248 * [backup-simplify]: Simplify (+ 1 0) into 1 6.248 * [backup-simplify]: Simplify (+ 1 0) into 1 6.249 * [backup-simplify]: Simplify (sqrt 1) into 1 6.249 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.250 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 6.250 * [backup-simplify]: Simplify (+ 0 0) into 0 6.251 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 6.251 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 6.251 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 6.251 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 6.252 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 6.252 * [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 6.252 * [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 6.252 * [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 6.252 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 6.252 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 6.252 * [taylor]: Taking taylor expansion of phi2 in phi1 6.252 * [backup-simplify]: Simplify phi2 into phi2 6.252 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.253 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.253 * [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 6.253 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 6.253 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.253 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.253 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.253 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.253 * [backup-simplify]: Simplify -0.5 into -0.5 6.253 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.253 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.253 * [taylor]: Taking taylor expansion of phi1 in phi1 6.253 * [backup-simplify]: Simplify 0 into 0 6.253 * [backup-simplify]: Simplify 1 into 1 6.253 * [backup-simplify]: Simplify (/ 1 1) into 1 6.253 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.253 * [taylor]: Taking taylor expansion of phi2 in phi1 6.254 * [backup-simplify]: Simplify phi2 into phi2 6.254 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.254 * [backup-simplify]: Simplify (+ 1 0) into 1 6.254 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.255 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.255 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 6.255 * [taylor]: Taking taylor expansion of lambda2 in phi1 6.255 * [backup-simplify]: Simplify lambda2 into lambda2 6.255 * [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) 6.255 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 6.256 * [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)) 6.256 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1 6.256 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 6.256 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.256 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.256 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.256 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.256 * [backup-simplify]: Simplify -0.5 into -0.5 6.256 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.256 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.256 * [taylor]: Taking taylor expansion of phi1 in phi1 6.256 * [backup-simplify]: Simplify 0 into 0 6.256 * [backup-simplify]: Simplify 1 into 1 6.257 * [backup-simplify]: Simplify (/ 1 1) into 1 6.257 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.257 * [taylor]: Taking taylor expansion of phi2 in phi1 6.257 * [backup-simplify]: Simplify phi2 into phi2 6.257 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.257 * [backup-simplify]: Simplify (+ 1 0) into 1 6.258 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.258 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.258 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 6.258 * [taylor]: Taking taylor expansion of lambda1 in phi1 6.258 * [backup-simplify]: Simplify lambda1 into lambda1 6.258 * [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) 6.258 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 6.259 * [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)) 6.259 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 6.259 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 6.259 * [taylor]: Taking taylor expansion of phi1 in phi1 6.259 * [backup-simplify]: Simplify 0 into 0 6.259 * [backup-simplify]: Simplify 1 into 1 6.259 * [backup-simplify]: Simplify (* 1 1) into 1 6.260 * [backup-simplify]: Simplify (/ 1 1) into 1 6.260 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 6.260 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 6.260 * [taylor]: Taking taylor expansion of 2 in phi1 6.260 * [backup-simplify]: Simplify 2 into 2 6.260 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 6.260 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.260 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.260 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.260 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.260 * [backup-simplify]: Simplify -0.5 into -0.5 6.260 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.260 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.260 * [taylor]: Taking taylor expansion of phi1 in phi1 6.260 * [backup-simplify]: Simplify 0 into 0 6.260 * [backup-simplify]: Simplify 1 into 1 6.260 * [backup-simplify]: Simplify (/ 1 1) into 1 6.260 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.260 * [taylor]: Taking taylor expansion of phi2 in phi1 6.260 * [backup-simplify]: Simplify phi2 into phi2 6.260 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.261 * [backup-simplify]: Simplify (+ 1 0) into 1 6.261 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.261 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.261 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 6.261 * [taylor]: Taking taylor expansion of lambda2 in phi1 6.261 * [backup-simplify]: Simplify lambda2 into lambda2 6.261 * [taylor]: Taking taylor expansion of lambda1 in phi1 6.261 * [backup-simplify]: Simplify lambda1 into lambda1 6.261 * [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) 6.261 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 6.261 * [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)) 6.261 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 6.262 * [taylor]: Taking taylor expansion of 2 in phi1 6.262 * [backup-simplify]: Simplify 2 into 2 6.262 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 6.262 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 6.262 * [taylor]: Taking taylor expansion of phi2 in phi1 6.262 * [backup-simplify]: Simplify phi2 into phi2 6.262 * [taylor]: Taking taylor expansion of phi1 in phi1 6.262 * [backup-simplify]: Simplify 0 into 0 6.262 * [backup-simplify]: Simplify 1 into 1 6.262 * [backup-simplify]: Simplify (* phi2 0) into 0 6.262 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 6.262 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.262 * [backup-simplify]: Simplify (+ 0 1) into 1 6.263 * [backup-simplify]: Simplify (+ 0 1) into 1 6.263 * [backup-simplify]: Simplify (+ 0 1) into 1 6.263 * [backup-simplify]: Simplify (+ 1 0) into 1 6.263 * [backup-simplify]: Simplify (sqrt 1) into 1 6.264 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.264 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 6.264 * [backup-simplify]: Simplify (+ 0 0) into 0 6.265 * [backup-simplify]: Simplify (+ 0 0) into 0 6.265 * [backup-simplify]: Simplify (+ 0 0) into 0 6.265 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 6.265 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 6.265 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 6.265 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 6.265 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 6.265 * [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 6.266 * [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 6.266 * [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 6.266 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 6.266 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 6.266 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.266 * [backup-simplify]: Simplify phi2 into phi2 6.266 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.266 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.266 * [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 6.266 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 6.266 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.266 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.266 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.266 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.266 * [backup-simplify]: Simplify -0.5 into -0.5 6.266 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.266 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.266 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.266 * [backup-simplify]: Simplify phi1 into phi1 6.266 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.266 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.266 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.266 * [backup-simplify]: Simplify phi2 into phi2 6.266 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.266 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.266 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.266 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.266 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.267 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.267 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.267 * [backup-simplify]: Simplify (- 0) into 0 6.267 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.267 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 6.267 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.267 * [backup-simplify]: Simplify 0 into 0 6.267 * [backup-simplify]: Simplify 1 into 1 6.267 * [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) 6.268 * [backup-simplify]: Simplify (* 1 1) into 1 6.268 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.268 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2 6.268 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 6.268 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.268 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.268 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.268 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.268 * [backup-simplify]: Simplify -0.5 into -0.5 6.268 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.268 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.268 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.268 * [backup-simplify]: Simplify phi1 into phi1 6.268 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.268 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.268 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.268 * [backup-simplify]: Simplify phi2 into phi2 6.268 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.268 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.268 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.268 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.269 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.269 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.269 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.269 * [backup-simplify]: Simplify (- 0) into 0 6.269 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.269 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 6.269 * [taylor]: Taking taylor expansion of lambda1 in lambda2 6.269 * [backup-simplify]: Simplify lambda1 into lambda1 6.269 * [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) 6.269 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 6.270 * [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)) 6.270 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 6.270 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 6.270 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.270 * [backup-simplify]: Simplify phi1 into phi1 6.270 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.270 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.270 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 6.270 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 6.270 * [taylor]: Taking taylor expansion of 2 in lambda2 6.270 * [backup-simplify]: Simplify 2 into 2 6.270 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 6.270 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.270 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.270 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.270 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.270 * [backup-simplify]: Simplify -0.5 into -0.5 6.270 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.270 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.270 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.270 * [backup-simplify]: Simplify phi1 into phi1 6.270 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.270 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.270 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.270 * [backup-simplify]: Simplify phi2 into phi2 6.270 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.270 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.270 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.271 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.271 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.271 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.271 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.271 * [backup-simplify]: Simplify (- 0) into 0 6.271 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.271 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 6.271 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.271 * [backup-simplify]: Simplify 0 into 0 6.271 * [backup-simplify]: Simplify 1 into 1 6.271 * [taylor]: Taking taylor expansion of lambda1 in lambda2 6.271 * [backup-simplify]: Simplify lambda1 into lambda1 6.272 * [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) 6.272 * [backup-simplify]: Simplify (* 0 lambda1) into 0 6.272 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 6.272 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 6.272 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 6.272 * [taylor]: Taking taylor expansion of 2 in lambda2 6.272 * [backup-simplify]: Simplify 2 into 2 6.272 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 6.272 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 6.272 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.272 * [backup-simplify]: Simplify phi2 into phi2 6.272 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.272 * [backup-simplify]: Simplify phi1 into phi1 6.272 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 6.272 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 6.273 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.273 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.273 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.273 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.273 * [backup-simplify]: Simplify (+ 0) into 0 6.274 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.274 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.274 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.274 * [backup-simplify]: Simplify (+ 0 0) into 0 6.274 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.275 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.276 * [backup-simplify]: Simplify (- 0) into 0 6.276 * [backup-simplify]: Simplify (+ 0 0) into 0 6.276 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.276 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.277 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 6.277 * [backup-simplify]: Simplify (+ 0 0) into 0 6.277 * [backup-simplify]: Simplify (+ 0 0) into 0 6.278 * [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)) 6.278 * [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)) 6.278 * [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))) 6.278 * [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))) 6.279 * [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)) 6.279 * [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 6.279 * [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 6.279 * [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 6.279 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 6.279 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 6.279 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.279 * [backup-simplify]: Simplify phi2 into phi2 6.279 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.279 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.279 * [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 6.279 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 6.279 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.279 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.279 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.279 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.279 * [backup-simplify]: Simplify -0.5 into -0.5 6.279 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.279 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.279 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.279 * [backup-simplify]: Simplify phi1 into phi1 6.279 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.279 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.279 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.280 * [backup-simplify]: Simplify phi2 into phi2 6.280 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.280 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.280 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.280 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.280 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.280 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.280 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.280 * [backup-simplify]: Simplify (- 0) into 0 6.281 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.281 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 6.281 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.281 * [backup-simplify]: Simplify lambda2 into lambda2 6.281 * [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) 6.281 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 6.281 * [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)) 6.281 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 6.281 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 6.281 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.281 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.281 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.281 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.281 * [backup-simplify]: Simplify -0.5 into -0.5 6.281 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.281 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.281 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.281 * [backup-simplify]: Simplify phi1 into phi1 6.281 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.281 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.281 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.281 * [backup-simplify]: Simplify phi2 into phi2 6.281 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.282 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.282 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.282 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.282 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.282 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.282 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.282 * [backup-simplify]: Simplify (- 0) into 0 6.282 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.282 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 6.282 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.282 * [backup-simplify]: Simplify 0 into 0 6.283 * [backup-simplify]: Simplify 1 into 1 6.283 * [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) 6.283 * [backup-simplify]: Simplify (* 1 1) into 1 6.283 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.283 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 6.283 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 6.283 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.283 * [backup-simplify]: Simplify phi1 into phi1 6.283 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.283 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.283 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 6.283 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 6.283 * [taylor]: Taking taylor expansion of 2 in lambda1 6.283 * [backup-simplify]: Simplify 2 into 2 6.283 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 6.283 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.284 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.284 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.284 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.284 * [backup-simplify]: Simplify -0.5 into -0.5 6.284 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.284 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.284 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.284 * [backup-simplify]: Simplify phi1 into phi1 6.284 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.284 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.284 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.284 * [backup-simplify]: Simplify phi2 into phi2 6.284 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.284 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.284 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.284 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.284 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.284 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.284 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.285 * [backup-simplify]: Simplify (- 0) into 0 6.285 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.285 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 6.285 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.285 * [backup-simplify]: Simplify lambda2 into lambda2 6.285 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.285 * [backup-simplify]: Simplify 0 into 0 6.285 * [backup-simplify]: Simplify 1 into 1 6.285 * [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) 6.285 * [backup-simplify]: Simplify (* lambda2 0) into 0 6.285 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 6.286 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 6.286 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 6.286 * [taylor]: Taking taylor expansion of 2 in lambda1 6.286 * [backup-simplify]: Simplify 2 into 2 6.286 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 6.286 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 6.286 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.286 * [backup-simplify]: Simplify phi2 into phi2 6.286 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.286 * [backup-simplify]: Simplify phi1 into phi1 6.286 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 6.286 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 6.286 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.286 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.286 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.286 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.287 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.287 * [backup-simplify]: Simplify (+ 0) into 0 6.287 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.287 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.287 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.288 * [backup-simplify]: Simplify (+ 0 0) into 0 6.288 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.289 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.289 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.289 * [backup-simplify]: Simplify (- 0) into 0 6.289 * [backup-simplify]: Simplify (+ 0 0) into 0 6.290 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.290 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.291 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 6.291 * [backup-simplify]: Simplify (+ 0 0) into 0 6.291 * [backup-simplify]: Simplify (+ 0 0) into 0 6.291 * [backup-simplify]: Simplify (+ 0 0) into 0 6.292 * [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)) 6.292 * [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)) 6.292 * [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))) 6.293 * [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))) 6.293 * [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)) 6.293 * [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 6.293 * [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 6.293 * [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 6.293 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 6.293 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 6.293 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.293 * [backup-simplify]: Simplify phi2 into phi2 6.293 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.293 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.293 * [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 6.293 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 6.293 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.293 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.293 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.293 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.293 * [backup-simplify]: Simplify -0.5 into -0.5 6.293 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.294 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.294 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.294 * [backup-simplify]: Simplify phi1 into phi1 6.294 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.294 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.294 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.294 * [backup-simplify]: Simplify phi2 into phi2 6.294 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.294 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.294 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.294 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.294 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.294 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.294 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.295 * [backup-simplify]: Simplify (- 0) into 0 6.295 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.295 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 6.295 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.295 * [backup-simplify]: Simplify lambda2 into lambda2 6.295 * [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) 6.295 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 6.295 * [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)) 6.295 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 6.295 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 6.295 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.295 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.295 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.295 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.295 * [backup-simplify]: Simplify -0.5 into -0.5 6.295 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.296 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.296 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.296 * [backup-simplify]: Simplify phi1 into phi1 6.296 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.296 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.296 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.296 * [backup-simplify]: Simplify phi2 into phi2 6.296 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.296 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.296 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.296 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.296 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.296 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.296 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.297 * [backup-simplify]: Simplify (- 0) into 0 6.297 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.297 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 6.297 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.297 * [backup-simplify]: Simplify 0 into 0 6.297 * [backup-simplify]: Simplify 1 into 1 6.297 * [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) 6.297 * [backup-simplify]: Simplify (* 1 1) into 1 6.297 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.297 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 6.297 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 6.297 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.297 * [backup-simplify]: Simplify phi1 into phi1 6.297 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.298 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.298 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 6.298 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 6.298 * [taylor]: Taking taylor expansion of 2 in lambda1 6.298 * [backup-simplify]: Simplify 2 into 2 6.298 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 6.298 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.298 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.298 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.298 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.298 * [backup-simplify]: Simplify -0.5 into -0.5 6.298 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.298 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.298 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.298 * [backup-simplify]: Simplify phi1 into phi1 6.298 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.298 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.298 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.298 * [backup-simplify]: Simplify phi2 into phi2 6.298 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.298 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.298 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.298 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.298 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.298 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.299 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.299 * [backup-simplify]: Simplify (- 0) into 0 6.299 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.299 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 6.299 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.299 * [backup-simplify]: Simplify lambda2 into lambda2 6.299 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.299 * [backup-simplify]: Simplify 0 into 0 6.299 * [backup-simplify]: Simplify 1 into 1 6.299 * [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) 6.299 * [backup-simplify]: Simplify (* lambda2 0) into 0 6.299 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 6.300 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 6.300 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 6.300 * [taylor]: Taking taylor expansion of 2 in lambda1 6.300 * [backup-simplify]: Simplify 2 into 2 6.300 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 6.300 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 6.300 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.300 * [backup-simplify]: Simplify phi2 into phi2 6.300 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.300 * [backup-simplify]: Simplify phi1 into phi1 6.300 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 6.300 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 6.300 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.300 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.300 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.301 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.301 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.301 * [backup-simplify]: Simplify (+ 0) into 0 6.301 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.302 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.302 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.302 * [backup-simplify]: Simplify (+ 0 0) into 0 6.307 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.309 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.309 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.310 * [backup-simplify]: Simplify (- 0) into 0 6.310 * [backup-simplify]: Simplify (+ 0 0) into 0 6.310 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.311 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.312 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 6.313 * [backup-simplify]: Simplify (+ 0 0) into 0 6.313 * [backup-simplify]: Simplify (+ 0 0) into 0 6.313 * [backup-simplify]: Simplify (+ 0 0) into 0 6.314 * [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)) 6.314 * [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)) 6.315 * [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))) 6.315 * [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))) 6.316 * [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)) 6.316 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.316 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.316 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.316 * [backup-simplify]: Simplify -0.5 into -0.5 6.316 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.316 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.316 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.316 * [backup-simplify]: Simplify phi1 into phi1 6.316 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.316 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.316 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.316 * [backup-simplify]: Simplify phi2 into phi2 6.316 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.316 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.317 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.317 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.317 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.317 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 6.317 * [taylor]: Taking taylor expansion of -1 in lambda2 6.317 * [backup-simplify]: Simplify -1 into -1 6.317 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 6.317 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.317 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.317 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.317 * [backup-simplify]: Simplify -0.5 into -0.5 6.317 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.317 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.317 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.317 * [backup-simplify]: Simplify phi1 into phi1 6.317 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.317 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.317 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.318 * [backup-simplify]: Simplify phi2 into phi2 6.318 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.318 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.318 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.318 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.318 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.318 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.318 * [backup-simplify]: Simplify 0 into 0 6.318 * [backup-simplify]: Simplify 1 into 1 6.318 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.319 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.319 * [backup-simplify]: Simplify (- 0) into 0 6.319 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.320 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.320 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.320 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 6.320 * [taylor]: Taking taylor expansion of -1 in phi1 6.320 * [backup-simplify]: Simplify -1 into -1 6.320 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.320 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.320 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.320 * [backup-simplify]: Simplify -0.5 into -0.5 6.320 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.320 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.320 * [taylor]: Taking taylor expansion of phi1 in phi1 6.320 * [backup-simplify]: Simplify 0 into 0 6.320 * [backup-simplify]: Simplify 1 into 1 6.321 * [backup-simplify]: Simplify (/ 1 1) into 1 6.321 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.321 * [taylor]: Taking taylor expansion of phi2 in phi1 6.321 * [backup-simplify]: Simplify phi2 into phi2 6.321 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.321 * [backup-simplify]: Simplify (+ 1 0) into 1 6.322 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.322 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.322 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.322 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.323 * [backup-simplify]: Simplify (- 0) into 0 6.323 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.323 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.323 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.323 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.323 * [backup-simplify]: Simplify -0.5 into -0.5 6.323 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.323 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.323 * [taylor]: Taking taylor expansion of phi1 in phi1 6.323 * [backup-simplify]: Simplify 0 into 0 6.323 * [backup-simplify]: Simplify 1 into 1 6.323 * [backup-simplify]: Simplify (/ 1 1) into 1 6.323 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.323 * [taylor]: Taking taylor expansion of phi2 in phi1 6.323 * [backup-simplify]: Simplify phi2 into phi2 6.324 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.324 * [backup-simplify]: Simplify (+ 1 0) into 1 6.324 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.325 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.325 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.326 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 6.327 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.327 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.327 * [backup-simplify]: Simplify (+ 0 0) into 0 6.328 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.329 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.329 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.330 * [backup-simplify]: Simplify (- 0) into 0 6.330 * [backup-simplify]: Simplify (+ 0 0) into 0 6.331 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 6.332 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 6.333 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.333 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2)) 6.334 * [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))) 6.335 * [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)))) 6.335 * [backup-simplify]: Simplify (+ 0) into 0 6.336 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.336 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.336 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.336 * [backup-simplify]: Simplify (+ 0 0) into 0 6.337 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.338 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.339 * [backup-simplify]: Simplify (- 0) into 0 6.339 * [backup-simplify]: Simplify (+ 0 0) into 0 6.340 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.340 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 6.341 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 6.341 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 6.342 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 6.342 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 6.342 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 6.343 * [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)))) 6.345 * [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)))))) 6.345 * [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 6.345 * [taylor]: Taking taylor expansion of 1/2 in lambda2 6.346 * [backup-simplify]: Simplify 1/2 into 1/2 6.346 * [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 6.346 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 6.346 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 6.346 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 6.346 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 6.346 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.346 * [backup-simplify]: Simplify phi2 into phi2 6.346 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.346 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.346 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 6.346 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 6.346 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.346 * [backup-simplify]: Simplify phi1 into phi1 6.346 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.346 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.346 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 6.346 * [taylor]: Taking taylor expansion of 2 in lambda2 6.346 * [backup-simplify]: Simplify 2 into 2 6.346 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 6.346 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 6.346 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.346 * [backup-simplify]: Simplify phi2 into phi2 6.346 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.346 * [backup-simplify]: Simplify phi1 into phi1 6.347 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 6.347 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 6.347 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.347 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.347 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.347 * [backup-simplify]: Simplify -0.5 into -0.5 6.347 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.347 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.347 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.347 * [backup-simplify]: Simplify phi1 into phi1 6.347 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.347 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.347 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.347 * [backup-simplify]: Simplify phi2 into phi2 6.347 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.347 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.347 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.348 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.348 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.348 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 6.348 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 6.348 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 6.349 * [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)))) 6.349 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.349 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.350 * [backup-simplify]: Simplify (- 0) into 0 6.350 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.350 * [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))))) 6.351 * [backup-simplify]: Simplify (+ 0) into 0 6.351 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.352 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.352 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.352 * [backup-simplify]: Simplify (+ 0 0) into 0 6.353 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.353 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.354 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.354 * [backup-simplify]: Simplify (- 0) into 0 6.355 * [backup-simplify]: Simplify (+ 0 0) into 0 6.356 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 6.356 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.356 * [taylor]: Taking taylor expansion of 0 in phi1 6.356 * [backup-simplify]: Simplify 0 into 0 6.357 * [backup-simplify]: Simplify (+ 0) into 0 6.357 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.357 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.358 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.358 * [backup-simplify]: Simplify (+ 0 0) into 0 6.358 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.360 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.360 * [backup-simplify]: Simplify (- 0) into 0 6.360 * [backup-simplify]: Simplify (+ 0 0) into 0 6.360 * [taylor]: Taking taylor expansion of 0 in phi1 6.360 * [backup-simplify]: Simplify 0 into 0 6.361 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.361 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 6.361 * [taylor]: Taking taylor expansion of -1 in phi2 6.361 * [backup-simplify]: Simplify -1 into -1 6.361 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.361 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.361 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.361 * [backup-simplify]: Simplify -0.5 into -0.5 6.361 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.361 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.361 * [taylor]: Taking taylor expansion of phi1 in phi2 6.361 * [backup-simplify]: Simplify phi1 into phi1 6.361 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.361 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.361 * [taylor]: Taking taylor expansion of phi2 in phi2 6.361 * [backup-simplify]: Simplify 0 into 0 6.361 * [backup-simplify]: Simplify 1 into 1 6.362 * [backup-simplify]: Simplify (/ 1 1) into 1 6.362 * [backup-simplify]: Simplify (+ 0 1) into 1 6.362 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.363 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.363 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.363 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.363 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.363 * [backup-simplify]: Simplify -0.5 into -0.5 6.363 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.363 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.363 * [taylor]: Taking taylor expansion of phi1 in phi2 6.363 * [backup-simplify]: Simplify phi1 into phi1 6.363 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.363 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.363 * [taylor]: Taking taylor expansion of phi2 in phi2 6.363 * [backup-simplify]: Simplify 0 into 0 6.363 * [backup-simplify]: Simplify 1 into 1 6.363 * [backup-simplify]: Simplify (/ 1 1) into 1 6.364 * [backup-simplify]: Simplify (+ 0 1) into 1 6.364 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.364 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.365 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 6.365 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 6.365 * [backup-simplify]: Simplify (+ 0) into 0 6.366 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.366 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.366 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.366 * [backup-simplify]: Simplify (+ 0 0) into 0 6.367 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.369 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.369 * [backup-simplify]: Simplify (- 0) into 0 6.369 * [backup-simplify]: Simplify (+ 0 0) into 0 6.370 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.370 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 6.371 * [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 6.372 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.373 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.373 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.373 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.374 * [backup-simplify]: Simplify (+ 0 0) into 0 6.375 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.377 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.378 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.379 * [backup-simplify]: Simplify (- 0) into 0 6.379 * [backup-simplify]: Simplify (+ 0 0) into 0 6.380 * [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 6.382 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.384 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.384 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 6.385 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 6.385 * [backup-simplify]: Simplify (+ 0 0) into 0 6.385 * [backup-simplify]: Simplify (+ 0 0) into 0 6.386 * [backup-simplify]: Simplify (+ 0 0) into 0 6.387 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.388 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 6.388 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.389 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.389 * [backup-simplify]: Simplify (+ 0 0) into 0 6.390 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.391 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.392 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.392 * [backup-simplify]: Simplify (- 0) into 0 6.392 * [backup-simplify]: Simplify (+ 0 0) into 0 6.393 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 6.394 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 6.395 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 6.396 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 6.396 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 6.396 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 6.397 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 6.397 * [backup-simplify]: Simplify (+ 0 0) into 0 6.397 * [backup-simplify]: Simplify (- 0) into 0 6.398 * [backup-simplify]: Simplify (+ 0 0) into 0 6.399 * [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)))))) 6.400 * [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 6.400 * [taylor]: Taking taylor expansion of 1/2 in lambda2 6.400 * [backup-simplify]: Simplify 1/2 into 1/2 6.400 * [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 6.400 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 6.400 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 6.400 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 6.400 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 6.400 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [backup-simplify]: Simplify 1 into 1 6.400 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 6.400 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.400 * [backup-simplify]: Simplify phi1 into phi1 6.400 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.400 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 6.400 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 6.401 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 6.401 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.401 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 6.401 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 6.401 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 6.401 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.401 * [backup-simplify]: Simplify phi2 into phi2 6.401 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.401 * [backup-simplify]: Simplify 0 into 0 6.401 * [backup-simplify]: Simplify 1 into 1 6.401 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.402 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 6.402 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 6.402 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 6.402 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.402 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 6.402 * [taylor]: Taking taylor expansion of 2 in lambda2 6.402 * [backup-simplify]: Simplify 2 into 2 6.402 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 6.402 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 6.402 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.402 * [backup-simplify]: Simplify phi2 into phi2 6.403 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 6.403 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.403 * [backup-simplify]: Simplify 0 into 0 6.403 * [backup-simplify]: Simplify 1 into 1 6.403 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.403 * [backup-simplify]: Simplify phi1 into phi1 6.403 * [backup-simplify]: Simplify (* 0 phi1) into 0 6.403 * [backup-simplify]: Simplify (* phi2 0) into 0 6.404 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 6.404 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 6.404 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 6.404 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.404 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.404 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.404 * [backup-simplify]: Simplify -0.5 into -0.5 6.404 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.404 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.404 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.404 * [backup-simplify]: Simplify phi1 into phi1 6.405 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.405 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.405 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.405 * [backup-simplify]: Simplify phi2 into phi2 6.405 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.405 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.405 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.405 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.405 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.406 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 6.406 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 6.406 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 6.406 * [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)))) 6.407 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.407 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.407 * [backup-simplify]: Simplify (- 0) into 0 6.407 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.408 * [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))))) 6.409 * [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)))))) 6.409 * [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 6.409 * [taylor]: Taking taylor expansion of 1/2 in phi1 6.409 * [backup-simplify]: Simplify 1/2 into 1/2 6.409 * [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 6.409 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 6.409 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 6.409 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 6.409 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 6.409 * [taylor]: Taking taylor expansion of phi2 in phi1 6.409 * [backup-simplify]: Simplify phi2 into phi2 6.409 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.409 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.409 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 6.409 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 6.409 * [taylor]: Taking taylor expansion of phi1 in phi1 6.409 * [backup-simplify]: Simplify 0 into 0 6.409 * [backup-simplify]: Simplify 1 into 1 6.410 * [backup-simplify]: Simplify (* 1 1) into 1 6.410 * [backup-simplify]: Simplify (/ 1 1) into 1 6.410 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 6.410 * [taylor]: Taking taylor expansion of 2 in phi1 6.410 * [backup-simplify]: Simplify 2 into 2 6.410 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 6.410 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 6.410 * [taylor]: Taking taylor expansion of phi2 in phi1 6.410 * [backup-simplify]: Simplify phi2 into phi2 6.410 * [taylor]: Taking taylor expansion of phi1 in phi1 6.411 * [backup-simplify]: Simplify 0 into 0 6.411 * [backup-simplify]: Simplify 1 into 1 6.411 * [backup-simplify]: Simplify (* phi2 0) into 0 6.411 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 6.411 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.411 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.411 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.411 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.411 * [backup-simplify]: Simplify -0.5 into -0.5 6.411 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.411 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.411 * [taylor]: Taking taylor expansion of phi1 in phi1 6.411 * [backup-simplify]: Simplify 0 into 0 6.411 * [backup-simplify]: Simplify 1 into 1 6.412 * [backup-simplify]: Simplify (/ 1 1) into 1 6.412 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.412 * [taylor]: Taking taylor expansion of phi2 in phi1 6.412 * [backup-simplify]: Simplify phi2 into phi2 6.412 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.412 * [backup-simplify]: Simplify (+ 1 0) into 1 6.413 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.413 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.413 * [backup-simplify]: Simplify (+ 0 1) into 1 6.414 * [backup-simplify]: Simplify (+ 1 0) into 1 6.414 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.415 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.415 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 6.416 * [backup-simplify]: Simplify (+ 0 0) into 0 6.416 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 6.416 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 6.416 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 6.417 * [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)))))))) 6.417 * [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))))))) 6.417 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 6.417 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 6.417 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 6.417 * [taylor]: Taking taylor expansion of phi2 in phi2 6.417 * [backup-simplify]: Simplify 0 into 0 6.417 * [backup-simplify]: Simplify 1 into 1 6.417 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.417 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.417 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.417 * [backup-simplify]: Simplify -0.5 into -0.5 6.418 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.418 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.418 * [taylor]: Taking taylor expansion of phi1 in phi2 6.418 * [backup-simplify]: Simplify phi1 into phi1 6.418 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.418 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.418 * [taylor]: Taking taylor expansion of phi2 in phi2 6.418 * [backup-simplify]: Simplify 0 into 0 6.418 * [backup-simplify]: Simplify 1 into 1 6.418 * [backup-simplify]: Simplify (/ 1 1) into 1 6.419 * [backup-simplify]: Simplify (+ 0 1) into 1 6.419 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.419 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.419 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.420 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.420 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.420 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 6.421 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 6.422 * [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)))))) 6.422 * [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 6.422 * [taylor]: Taking taylor expansion of 1/2 in phi1 6.422 * [backup-simplify]: Simplify 1/2 into 1/2 6.422 * [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 6.422 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 6.422 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 6.422 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 6.422 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 6.422 * [taylor]: Taking taylor expansion of phi2 in phi1 6.422 * [backup-simplify]: Simplify phi2 into phi2 6.422 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 6.422 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 6.422 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 6.422 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 6.422 * [taylor]: Taking taylor expansion of phi1 in phi1 6.422 * [backup-simplify]: Simplify 0 into 0 6.422 * [backup-simplify]: Simplify 1 into 1 6.423 * [backup-simplify]: Simplify (* 1 1) into 1 6.423 * [backup-simplify]: Simplify (/ 1 1) into 1 6.423 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 6.423 * [taylor]: Taking taylor expansion of 2 in phi1 6.423 * [backup-simplify]: Simplify 2 into 2 6.423 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 6.423 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 6.423 * [taylor]: Taking taylor expansion of phi2 in phi1 6.423 * [backup-simplify]: Simplify phi2 into phi2 6.423 * [taylor]: Taking taylor expansion of phi1 in phi1 6.423 * [backup-simplify]: Simplify 0 into 0 6.423 * [backup-simplify]: Simplify 1 into 1 6.423 * [backup-simplify]: Simplify (* phi2 0) into 0 6.424 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 6.424 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.424 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.424 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.424 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.424 * [backup-simplify]: Simplify -0.5 into -0.5 6.424 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.424 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.424 * [taylor]: Taking taylor expansion of phi1 in phi1 6.424 * [backup-simplify]: Simplify 0 into 0 6.424 * [backup-simplify]: Simplify 1 into 1 6.425 * [backup-simplify]: Simplify (/ 1 1) into 1 6.425 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.425 * [taylor]: Taking taylor expansion of phi2 in phi1 6.425 * [backup-simplify]: Simplify phi2 into phi2 6.425 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.425 * [backup-simplify]: Simplify (+ 1 0) into 1 6.426 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.426 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.426 * [backup-simplify]: Simplify (+ 0 1) into 1 6.427 * [backup-simplify]: Simplify (+ 1 0) into 1 6.427 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.428 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.428 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 6.429 * [backup-simplify]: Simplify (+ 0 0) into 0 6.429 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 6.429 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 6.429 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 6.430 * [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)))))))) 6.430 * [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))))))) 6.431 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 6.431 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 6.431 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 6.431 * [taylor]: Taking taylor expansion of phi2 in phi2 6.431 * [backup-simplify]: Simplify 0 into 0 6.431 * [backup-simplify]: Simplify 1 into 1 6.431 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.431 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.431 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.431 * [backup-simplify]: Simplify -0.5 into -0.5 6.431 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.431 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.431 * [taylor]: Taking taylor expansion of phi1 in phi2 6.431 * [backup-simplify]: Simplify phi1 into phi1 6.431 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.431 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.431 * [taylor]: Taking taylor expansion of phi2 in phi2 6.431 * [backup-simplify]: Simplify 0 into 0 6.431 * [backup-simplify]: Simplify 1 into 1 6.432 * [backup-simplify]: Simplify (/ 1 1) into 1 6.432 * [backup-simplify]: Simplify (+ 0 1) into 1 6.432 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.432 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.432 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.433 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.433 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.433 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 6.433 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 6.434 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.434 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 6.434 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.434 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.435 * [backup-simplify]: Simplify (+ 0 0) into 0 6.435 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.436 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.436 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.436 * [backup-simplify]: Simplify (- 0) into 0 6.436 * [backup-simplify]: Simplify (+ 0 0) into 0 6.437 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.438 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 6.438 * [taylor]: Taking taylor expansion of 0 in phi1 6.438 * [backup-simplify]: Simplify 0 into 0 6.438 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.439 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 6.439 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.439 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.439 * [backup-simplify]: Simplify (+ 0 0) into 0 6.440 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.441 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.441 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.442 * [backup-simplify]: Simplify (- 0) into 0 6.442 * [backup-simplify]: Simplify (+ 0 0) into 0 6.442 * [taylor]: Taking taylor expansion of 0 in phi1 6.442 * [backup-simplify]: Simplify 0 into 0 6.442 * [taylor]: Taking taylor expansion of 0 in phi2 6.442 * [backup-simplify]: Simplify 0 into 0 6.442 * [taylor]: Taking taylor expansion of 0 in phi2 6.442 * [backup-simplify]: Simplify 0 into 0 6.442 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.442 * [taylor]: Taking taylor expansion of 0 in phi2 6.443 * [backup-simplify]: Simplify 0 into 0 6.443 * [taylor]: Taking taylor expansion of 0 in phi2 6.443 * [backup-simplify]: Simplify 0 into 0 6.443 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.443 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 6.444 * [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)))))) 6.444 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2) 6.444 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 6.444 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 6.444 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 6.444 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 6.444 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.444 * [backup-simplify]: Simplify 0.5 into 0.5 6.444 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 6.444 * [taylor]: Taking taylor expansion of phi2 in phi2 6.444 * [backup-simplify]: Simplify 0 into 0 6.444 * [backup-simplify]: Simplify 1 into 1 6.444 * [taylor]: Taking taylor expansion of phi1 in phi2 6.444 * [backup-simplify]: Simplify phi1 into phi1 6.444 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 6.444 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 6.445 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 6.445 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 6.445 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 6.445 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 6.445 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.445 * [backup-simplify]: Simplify 0.5 into 0.5 6.445 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 6.445 * [taylor]: Taking taylor expansion of phi2 in phi1 6.445 * [backup-simplify]: Simplify phi2 into phi2 6.445 * [taylor]: Taking taylor expansion of phi1 in phi1 6.445 * [backup-simplify]: Simplify 0 into 0 6.445 * [backup-simplify]: Simplify 1 into 1 6.445 * [backup-simplify]: Simplify (+ phi2 0) into phi2 6.445 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 6.445 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 6.445 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 6.445 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 6.445 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 6.445 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.445 * [backup-simplify]: Simplify 0.5 into 0.5 6.445 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 6.445 * [taylor]: Taking taylor expansion of phi2 in phi1 6.445 * [backup-simplify]: Simplify phi2 into phi2 6.445 * [taylor]: Taking taylor expansion of phi1 in phi1 6.445 * [backup-simplify]: Simplify 0 into 0 6.445 * [backup-simplify]: Simplify 1 into 1 6.445 * [backup-simplify]: Simplify (+ phi2 0) into phi2 6.445 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 6.445 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 6.445 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 6.445 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 6.445 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 6.446 * [backup-simplify]: Simplify (- 0) into 0 6.446 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 6.446 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 6.446 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 6.446 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.446 * [backup-simplify]: Simplify 0.5 into 0.5 6.446 * [taylor]: Taking taylor expansion of phi2 in phi2 6.446 * [backup-simplify]: Simplify 0 into 0 6.446 * [backup-simplify]: Simplify 1 into 1 6.446 * [backup-simplify]: Simplify (* 0.5 0) into 0 6.447 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 6.447 * [backup-simplify]: Simplify 1 into 1 6.448 * [backup-simplify]: Simplify (+ 0) into 0 6.448 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 6.448 * [backup-simplify]: Simplify (+ 0 1) into 1 6.449 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 6.450 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 6.451 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 6.451 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 6.451 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 6.451 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 6.451 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 6.451 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.451 * [backup-simplify]: Simplify 0.5 into 0.5 6.451 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 6.451 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 6.451 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.451 * [backup-simplify]: Simplify 0.5 into 0.5 6.451 * [taylor]: Taking taylor expansion of phi2 in phi2 6.451 * [backup-simplify]: Simplify 0 into 0 6.451 * [backup-simplify]: Simplify 1 into 1 6.451 * [backup-simplify]: Simplify (* 0.5 0) into 0 6.458 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 6.458 * [backup-simplify]: Simplify (* 0.5 0) into 0 6.458 * [backup-simplify]: Simplify (- 0) into 0 6.458 * [backup-simplify]: Simplify 0 into 0 6.459 * [backup-simplify]: Simplify (+ 0) into 0 6.459 * [backup-simplify]: Simplify 0 into 0 6.460 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 6.461 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 6.461 * [backup-simplify]: Simplify (+ 0 0) into 0 6.462 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 6.462 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.463 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 6.463 * [backup-simplify]: Simplify (- 0) into 0 6.463 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 6.463 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 6.463 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 6.463 * [taylor]: Taking taylor expansion of 0.125 in phi2 6.463 * [backup-simplify]: Simplify 0.125 into 0.125 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 6.463 * [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 6.464 * [backup-simplify]: Simplify (* 0.5 0) into 0 6.465 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 6.465 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 6.465 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 6.465 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 6.467 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 6.468 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 6.468 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 6.468 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 6.469 * [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)))) 6.469 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.469 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 6.469 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.469 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.469 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.469 * [backup-simplify]: Simplify 0.5 into 0.5 6.469 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.469 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.469 * [taylor]: Taking taylor expansion of phi1 in phi2 6.469 * [backup-simplify]: Simplify phi1 into phi1 6.469 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.469 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.469 * [taylor]: Taking taylor expansion of phi2 in phi2 6.469 * [backup-simplify]: Simplify 0 into 0 6.469 * [backup-simplify]: Simplify 1 into 1 6.469 * [backup-simplify]: Simplify (/ 1 1) into 1 6.470 * [backup-simplify]: Simplify (+ 0 1) into 1 6.470 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.470 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.470 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.470 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.470 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.470 * [backup-simplify]: Simplify 0.5 into 0.5 6.470 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.470 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.470 * [taylor]: Taking taylor expansion of phi1 in phi1 6.470 * [backup-simplify]: Simplify 0 into 0 6.470 * [backup-simplify]: Simplify 1 into 1 6.470 * [backup-simplify]: Simplify (/ 1 1) into 1 6.470 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.471 * [taylor]: Taking taylor expansion of phi2 in phi1 6.471 * [backup-simplify]: Simplify phi2 into phi2 6.471 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.471 * [backup-simplify]: Simplify (+ 1 0) into 1 6.472 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.472 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.472 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.472 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.472 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.472 * [backup-simplify]: Simplify 0.5 into 0.5 6.472 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.472 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.472 * [taylor]: Taking taylor expansion of phi1 in phi1 6.472 * [backup-simplify]: Simplify 0 into 0 6.472 * [backup-simplify]: Simplify 1 into 1 6.472 * [backup-simplify]: Simplify (/ 1 1) into 1 6.472 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.472 * [taylor]: Taking taylor expansion of phi2 in phi1 6.472 * [backup-simplify]: Simplify phi2 into phi2 6.472 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.473 * [backup-simplify]: Simplify (+ 1 0) into 1 6.473 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.473 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.473 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.473 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.473 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.473 * [backup-simplify]: Simplify 0.5 into 0.5 6.473 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.473 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.473 * [taylor]: Taking taylor expansion of phi1 in phi2 6.473 * [backup-simplify]: Simplify phi1 into phi1 6.473 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.473 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.473 * [taylor]: Taking taylor expansion of phi2 in phi2 6.473 * [backup-simplify]: Simplify 0 into 0 6.473 * [backup-simplify]: Simplify 1 into 1 6.473 * [backup-simplify]: Simplify (/ 1 1) into 1 6.474 * [backup-simplify]: Simplify (+ 0 1) into 1 6.474 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.474 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.474 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.474 * [taylor]: Taking taylor expansion of 0 in phi2 6.474 * [backup-simplify]: Simplify 0 into 0 6.474 * [backup-simplify]: Simplify 0 into 0 6.474 * [backup-simplify]: Simplify 0 into 0 6.474 * [taylor]: Taking taylor expansion of 0 in phi2 6.474 * [backup-simplify]: Simplify 0 into 0 6.474 * [backup-simplify]: Simplify 0 into 0 6.474 * [backup-simplify]: Simplify 0 into 0 6.474 * [backup-simplify]: Simplify 0 into 0 6.474 * [taylor]: Taking taylor expansion of 0 in phi2 6.474 * [backup-simplify]: Simplify 0 into 0 6.475 * [backup-simplify]: Simplify 0 into 0 6.475 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 6.475 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.475 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 6.475 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.475 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.475 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.475 * [backup-simplify]: Simplify -0.5 into -0.5 6.475 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.475 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.475 * [taylor]: Taking taylor expansion of phi1 in phi2 6.475 * [backup-simplify]: Simplify phi1 into phi1 6.475 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.475 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.475 * [taylor]: Taking taylor expansion of phi2 in phi2 6.475 * [backup-simplify]: Simplify 0 into 0 6.475 * [backup-simplify]: Simplify 1 into 1 6.475 * [backup-simplify]: Simplify (/ 1 1) into 1 6.476 * [backup-simplify]: Simplify (+ 0 1) into 1 6.476 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.476 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.476 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.476 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.476 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.476 * [backup-simplify]: Simplify -0.5 into -0.5 6.476 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.476 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.476 * [taylor]: Taking taylor expansion of phi1 in phi1 6.476 * [backup-simplify]: Simplify 0 into 0 6.476 * [backup-simplify]: Simplify 1 into 1 6.476 * [backup-simplify]: Simplify (/ 1 1) into 1 6.476 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.476 * [taylor]: Taking taylor expansion of phi2 in phi1 6.476 * [backup-simplify]: Simplify phi2 into phi2 6.476 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.477 * [backup-simplify]: Simplify (+ 1 0) into 1 6.477 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.477 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.477 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.477 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.477 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.477 * [backup-simplify]: Simplify -0.5 into -0.5 6.477 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.477 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.477 * [taylor]: Taking taylor expansion of phi1 in phi1 6.477 * [backup-simplify]: Simplify 0 into 0 6.477 * [backup-simplify]: Simplify 1 into 1 6.478 * [backup-simplify]: Simplify (/ 1 1) into 1 6.478 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.478 * [taylor]: Taking taylor expansion of phi2 in phi1 6.478 * [backup-simplify]: Simplify phi2 into phi2 6.478 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.478 * [backup-simplify]: Simplify (+ 1 0) into 1 6.478 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.478 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.478 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.478 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.478 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.478 * [backup-simplify]: Simplify -0.5 into -0.5 6.478 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.478 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.478 * [taylor]: Taking taylor expansion of phi1 in phi2 6.478 * [backup-simplify]: Simplify phi1 into phi1 6.479 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.479 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.479 * [taylor]: Taking taylor expansion of phi2 in phi2 6.479 * [backup-simplify]: Simplify 0 into 0 6.479 * [backup-simplify]: Simplify 1 into 1 6.479 * [backup-simplify]: Simplify (/ 1 1) into 1 6.479 * [backup-simplify]: Simplify (+ 0 1) into 1 6.479 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.479 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.480 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.480 * [taylor]: Taking taylor expansion of 0 in phi2 6.480 * [backup-simplify]: Simplify 0 into 0 6.480 * [backup-simplify]: Simplify 0 into 0 6.480 * [backup-simplify]: Simplify 0 into 0 6.480 * [taylor]: Taking taylor expansion of 0 in phi2 6.480 * [backup-simplify]: Simplify 0 into 0 6.480 * [backup-simplify]: Simplify 0 into 0 6.480 * [backup-simplify]: Simplify 0 into 0 6.480 * [backup-simplify]: Simplify 0 into 0 6.480 * [taylor]: Taking taylor expansion of 0 in phi2 6.480 * [backup-simplify]: Simplify 0 into 0 6.480 * [backup-simplify]: Simplify 0 into 0 6.480 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 6.480 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 1 2) 6.480 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 6.480 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 6.480 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 6.480 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 6.480 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.480 * [backup-simplify]: Simplify 0.5 into 0.5 6.480 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 6.480 * [taylor]: Taking taylor expansion of phi2 in phi2 6.480 * [backup-simplify]: Simplify 0 into 0 6.480 * [backup-simplify]: Simplify 1 into 1 6.480 * [taylor]: Taking taylor expansion of phi1 in phi2 6.480 * [backup-simplify]: Simplify phi1 into phi1 6.480 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 6.480 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 6.481 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 6.481 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 6.481 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 6.481 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 6.481 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.481 * [backup-simplify]: Simplify 0.5 into 0.5 6.481 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 6.481 * [taylor]: Taking taylor expansion of phi2 in phi1 6.481 * [backup-simplify]: Simplify phi2 into phi2 6.481 * [taylor]: Taking taylor expansion of phi1 in phi1 6.481 * [backup-simplify]: Simplify 0 into 0 6.481 * [backup-simplify]: Simplify 1 into 1 6.481 * [backup-simplify]: Simplify (+ phi2 0) into phi2 6.481 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 6.481 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 6.481 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 6.481 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 6.481 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 6.481 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.481 * [backup-simplify]: Simplify 0.5 into 0.5 6.481 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 6.481 * [taylor]: Taking taylor expansion of phi2 in phi1 6.481 * [backup-simplify]: Simplify phi2 into phi2 6.481 * [taylor]: Taking taylor expansion of phi1 in phi1 6.481 * [backup-simplify]: Simplify 0 into 0 6.481 * [backup-simplify]: Simplify 1 into 1 6.481 * [backup-simplify]: Simplify (+ phi2 0) into phi2 6.481 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 6.481 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 6.481 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 6.481 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 6.481 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 6.482 * [backup-simplify]: Simplify (- 0) into 0 6.482 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 6.482 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 6.482 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 6.482 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.482 * [backup-simplify]: Simplify 0.5 into 0.5 6.482 * [taylor]: Taking taylor expansion of phi2 in phi2 6.482 * [backup-simplify]: Simplify 0 into 0 6.482 * [backup-simplify]: Simplify 1 into 1 6.482 * [backup-simplify]: Simplify (* 0.5 0) into 0 6.483 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 6.483 * [backup-simplify]: Simplify 1 into 1 6.483 * [backup-simplify]: Simplify (+ 0) into 0 6.484 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 6.484 * [backup-simplify]: Simplify (+ 0 1) into 1 6.484 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 6.486 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 6.486 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 6.486 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 6.486 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 6.486 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 6.486 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 6.486 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.486 * [backup-simplify]: Simplify 0.5 into 0.5 6.486 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 6.486 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 6.486 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.486 * [backup-simplify]: Simplify 0.5 into 0.5 6.486 * [taylor]: Taking taylor expansion of phi2 in phi2 6.486 * [backup-simplify]: Simplify 0 into 0 6.486 * [backup-simplify]: Simplify 1 into 1 6.487 * [backup-simplify]: Simplify (* 0.5 0) into 0 6.487 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 6.488 * [backup-simplify]: Simplify (* 0.5 0) into 0 6.488 * [backup-simplify]: Simplify (- 0) into 0 6.488 * [backup-simplify]: Simplify 0 into 0 6.488 * [backup-simplify]: Simplify (+ 0) into 0 6.488 * [backup-simplify]: Simplify 0 into 0 6.490 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 6.491 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 6.491 * [backup-simplify]: Simplify (+ 0 0) into 0 6.491 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 6.492 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.493 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 6.493 * [backup-simplify]: Simplify (- 0) into 0 6.493 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 6.493 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 6.493 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 6.493 * [taylor]: Taking taylor expansion of 0.125 in phi2 6.493 * [backup-simplify]: Simplify 0.125 into 0.125 6.493 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 6.493 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 6.493 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.493 * [backup-simplify]: Simplify 0.5 into 0.5 6.493 * [taylor]: Taking taylor expansion of phi2 in phi2 6.493 * [backup-simplify]: Simplify 0 into 0 6.493 * [backup-simplify]: Simplify 1 into 1 6.493 * [backup-simplify]: Simplify (* 0.5 0) into 0 6.494 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 6.495 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 6.495 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 6.495 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 6.496 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 6.497 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 6.498 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 6.498 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 6.498 * [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)))) 6.499 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.499 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 6.499 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.499 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.499 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.499 * [backup-simplify]: Simplify 0.5 into 0.5 6.499 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.499 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.499 * [taylor]: Taking taylor expansion of phi1 in phi2 6.499 * [backup-simplify]: Simplify phi1 into phi1 6.499 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.499 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.499 * [taylor]: Taking taylor expansion of phi2 in phi2 6.499 * [backup-simplify]: Simplify 0 into 0 6.499 * [backup-simplify]: Simplify 1 into 1 6.499 * [backup-simplify]: Simplify (/ 1 1) into 1 6.499 * [backup-simplify]: Simplify (+ 0 1) into 1 6.500 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.500 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.500 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.500 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.500 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.500 * [backup-simplify]: Simplify 0.5 into 0.5 6.500 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.500 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.500 * [taylor]: Taking taylor expansion of phi1 in phi1 6.500 * [backup-simplify]: Simplify 0 into 0 6.500 * [backup-simplify]: Simplify 1 into 1 6.500 * [backup-simplify]: Simplify (/ 1 1) into 1 6.500 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.500 * [taylor]: Taking taylor expansion of phi2 in phi1 6.500 * [backup-simplify]: Simplify phi2 into phi2 6.500 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.501 * [backup-simplify]: Simplify (+ 1 0) into 1 6.501 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.501 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.501 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.502 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.502 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.502 * [backup-simplify]: Simplify 0.5 into 0.5 6.502 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.502 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.502 * [taylor]: Taking taylor expansion of phi1 in phi1 6.502 * [backup-simplify]: Simplify 0 into 0 6.502 * [backup-simplify]: Simplify 1 into 1 6.502 * [backup-simplify]: Simplify (/ 1 1) into 1 6.502 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.502 * [taylor]: Taking taylor expansion of phi2 in phi1 6.502 * [backup-simplify]: Simplify phi2 into phi2 6.502 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.502 * [backup-simplify]: Simplify (+ 1 0) into 1 6.503 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.503 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.503 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.503 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.503 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.503 * [backup-simplify]: Simplify 0.5 into 0.5 6.503 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.503 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.503 * [taylor]: Taking taylor expansion of phi1 in phi2 6.503 * [backup-simplify]: Simplify phi1 into phi1 6.503 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.503 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.503 * [taylor]: Taking taylor expansion of phi2 in phi2 6.503 * [backup-simplify]: Simplify 0 into 0 6.503 * [backup-simplify]: Simplify 1 into 1 6.503 * [backup-simplify]: Simplify (/ 1 1) into 1 6.504 * [backup-simplify]: Simplify (+ 0 1) into 1 6.504 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.504 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.504 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.504 * [taylor]: Taking taylor expansion of 0 in phi2 6.504 * [backup-simplify]: Simplify 0 into 0 6.504 * [backup-simplify]: Simplify 0 into 0 6.504 * [backup-simplify]: Simplify 0 into 0 6.504 * [taylor]: Taking taylor expansion of 0 in phi2 6.504 * [backup-simplify]: Simplify 0 into 0 6.504 * [backup-simplify]: Simplify 0 into 0 6.504 * [backup-simplify]: Simplify 0 into 0 6.504 * [backup-simplify]: Simplify 0 into 0 6.504 * [taylor]: Taking taylor expansion of 0 in phi2 6.504 * [backup-simplify]: Simplify 0 into 0 6.504 * [backup-simplify]: Simplify 0 into 0 6.504 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 6.505 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.505 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 6.505 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.505 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.505 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.505 * [backup-simplify]: Simplify -0.5 into -0.5 6.505 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.505 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.505 * [taylor]: Taking taylor expansion of phi1 in phi2 6.505 * [backup-simplify]: Simplify phi1 into phi1 6.505 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.505 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.505 * [taylor]: Taking taylor expansion of phi2 in phi2 6.505 * [backup-simplify]: Simplify 0 into 0 6.505 * [backup-simplify]: Simplify 1 into 1 6.505 * [backup-simplify]: Simplify (/ 1 1) into 1 6.505 * [backup-simplify]: Simplify (+ 0 1) into 1 6.506 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.506 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.506 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.506 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.506 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.506 * [backup-simplify]: Simplify -0.5 into -0.5 6.506 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.506 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.506 * [taylor]: Taking taylor expansion of phi1 in phi1 6.506 * [backup-simplify]: Simplify 0 into 0 6.506 * [backup-simplify]: Simplify 1 into 1 6.506 * [backup-simplify]: Simplify (/ 1 1) into 1 6.506 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.506 * [taylor]: Taking taylor expansion of phi2 in phi1 6.506 * [backup-simplify]: Simplify phi2 into phi2 6.506 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.507 * [backup-simplify]: Simplify (+ 1 0) into 1 6.507 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.507 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.507 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.507 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.507 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.507 * [backup-simplify]: Simplify -0.5 into -0.5 6.507 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.507 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.507 * [taylor]: Taking taylor expansion of phi1 in phi1 6.507 * [backup-simplify]: Simplify 0 into 0 6.507 * [backup-simplify]: Simplify 1 into 1 6.507 * [backup-simplify]: Simplify (/ 1 1) into 1 6.507 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.507 * [taylor]: Taking taylor expansion of phi2 in phi1 6.507 * [backup-simplify]: Simplify phi2 into phi2 6.507 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.508 * [backup-simplify]: Simplify (+ 1 0) into 1 6.508 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.508 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.508 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.508 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.508 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.508 * [backup-simplify]: Simplify -0.5 into -0.5 6.508 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.508 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.508 * [taylor]: Taking taylor expansion of phi1 in phi2 6.508 * [backup-simplify]: Simplify phi1 into phi1 6.508 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.508 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.508 * [taylor]: Taking taylor expansion of phi2 in phi2 6.508 * [backup-simplify]: Simplify 0 into 0 6.508 * [backup-simplify]: Simplify 1 into 1 6.509 * [backup-simplify]: Simplify (/ 1 1) into 1 6.509 * [backup-simplify]: Simplify (+ 0 1) into 1 6.509 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.509 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.509 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.510 * [taylor]: Taking taylor expansion of 0 in phi2 6.510 * [backup-simplify]: Simplify 0 into 0 6.510 * [backup-simplify]: Simplify 0 into 0 6.510 * [backup-simplify]: Simplify 0 into 0 6.510 * [taylor]: Taking taylor expansion of 0 in phi2 6.510 * [backup-simplify]: Simplify 0 into 0 6.510 * [backup-simplify]: Simplify 0 into 0 6.510 * [backup-simplify]: Simplify 0 into 0 6.510 * [backup-simplify]: Simplify 0 into 0 6.510 * [taylor]: Taking taylor expansion of 0 in phi2 6.510 * [backup-simplify]: Simplify 0 into 0 6.510 * [backup-simplify]: Simplify 0 into 0 6.510 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 6.510 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1) 6.510 * [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)) 6.510 * [approximate]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in (lambda1 lambda2 phi1 phi2) around 0 6.510 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 6.510 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in phi2 6.510 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 6.510 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.510 * [backup-simplify]: Simplify lambda1 into lambda1 6.510 * [taylor]: Taking taylor expansion of lambda2 in phi2 6.510 * [backup-simplify]: Simplify lambda2 into lambda2 6.510 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 6.510 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 6.510 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 6.510 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 6.510 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 6.511 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.511 * [backup-simplify]: Simplify 0.5 into 0.5 6.511 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 6.511 * [taylor]: Taking taylor expansion of phi2 in phi2 6.511 * [backup-simplify]: Simplify 0 into 0 6.511 * [backup-simplify]: Simplify 1 into 1 6.511 * [taylor]: Taking taylor expansion of phi1 in phi2 6.511 * [backup-simplify]: Simplify phi1 into phi1 6.511 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 6.511 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 6.511 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 6.511 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 6.511 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 6.511 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 6.511 * [backup-simplify]: Simplify (- 0) into 0 6.511 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 6.511 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 6.511 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in phi1 6.511 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 6.511 * [taylor]: Taking taylor expansion of lambda1 in phi1 6.511 * [backup-simplify]: Simplify lambda1 into lambda1 6.511 * [taylor]: Taking taylor expansion of lambda2 in phi1 6.511 * [backup-simplify]: Simplify lambda2 into lambda2 6.511 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 6.511 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 6.512 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 6.512 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 6.512 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 6.512 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.512 * [backup-simplify]: Simplify 0.5 into 0.5 6.512 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 6.512 * [taylor]: Taking taylor expansion of phi2 in phi1 6.512 * [backup-simplify]: Simplify phi2 into phi2 6.512 * [taylor]: Taking taylor expansion of phi1 in phi1 6.512 * [backup-simplify]: Simplify 0 into 0 6.512 * [backup-simplify]: Simplify 1 into 1 6.512 * [backup-simplify]: Simplify (+ phi2 0) into phi2 6.512 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 6.512 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 6.512 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 6.512 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 6.512 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 6.512 * [backup-simplify]: Simplify (- 0) into 0 6.512 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 6.512 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 6.512 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda2 6.512 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 6.512 * [taylor]: Taking taylor expansion of lambda1 in lambda2 6.512 * [backup-simplify]: Simplify lambda1 into lambda1 6.512 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.512 * [backup-simplify]: Simplify 0 into 0 6.512 * [backup-simplify]: Simplify 1 into 1 6.513 * [backup-simplify]: Simplify (- 0) into 0 6.513 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 6.513 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 6.513 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 6.513 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 6.513 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.513 * [backup-simplify]: Simplify 0.5 into 0.5 6.513 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 6.513 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.513 * [backup-simplify]: Simplify phi2 into phi2 6.513 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.513 * [backup-simplify]: Simplify phi1 into phi1 6.513 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 6.513 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 6.513 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 6.513 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 6.513 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 6.513 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 6.514 * [backup-simplify]: Simplify (- 0) into 0 6.514 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 6.514 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 6.514 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda1 6.514 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 6.514 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.514 * [backup-simplify]: Simplify 0 into 0 6.514 * [backup-simplify]: Simplify 1 into 1 6.514 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.514 * [backup-simplify]: Simplify lambda2 into lambda2 6.514 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 6.514 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 6.514 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 6.514 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 6.514 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 6.514 * [taylor]: Taking taylor expansion of 0.5 in lambda1 6.514 * [backup-simplify]: Simplify 0.5 into 0.5 6.514 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 6.514 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.514 * [backup-simplify]: Simplify phi2 into phi2 6.514 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.514 * [backup-simplify]: Simplify phi1 into phi1 6.514 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 6.514 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 6.514 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 6.514 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 6.514 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 6.515 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 6.515 * [backup-simplify]: Simplify (- 0) into 0 6.515 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 6.515 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 6.515 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda1 6.515 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 6.515 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.515 * [backup-simplify]: Simplify 0 into 0 6.515 * [backup-simplify]: Simplify 1 into 1 6.515 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.515 * [backup-simplify]: Simplify lambda2 into lambda2 6.515 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 6.515 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 6.515 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 6.515 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 6.515 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 6.515 * [taylor]: Taking taylor expansion of 0.5 in lambda1 6.515 * [backup-simplify]: Simplify 0.5 into 0.5 6.515 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 6.515 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.515 * [backup-simplify]: Simplify phi2 into phi2 6.515 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.515 * [backup-simplify]: Simplify phi1 into phi1 6.515 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 6.515 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 6.515 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 6.515 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 6.516 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 6.516 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 6.516 * [backup-simplify]: Simplify (- 0) into 0 6.516 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 6.516 * [backup-simplify]: Simplify (* (- lambda2) (- lambda2)) into (pow lambda2 2) 6.516 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 6.516 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 6.516 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 6.516 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 6.516 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.517 * [backup-simplify]: Simplify 0 into 0 6.517 * [backup-simplify]: Simplify 1 into 1 6.517 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 6.517 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 6.517 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 6.517 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.517 * [backup-simplify]: Simplify 0.5 into 0.5 6.517 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 6.517 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.517 * [backup-simplify]: Simplify phi2 into phi2 6.517 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.517 * [backup-simplify]: Simplify phi1 into phi1 6.517 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 6.517 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 6.517 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 6.517 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 6.517 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 6.517 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 6.517 * [backup-simplify]: Simplify (- 0) into 0 6.517 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 6.518 * [backup-simplify]: Simplify (+ 0) into 0 6.518 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 6.518 * [backup-simplify]: Simplify (+ 0 0) into 0 6.519 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 6.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.519 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 6.520 * [backup-simplify]: Simplify (- 0) into 0 6.520 * [backup-simplify]: Simplify (+ 0 0) into 0 6.520 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 6.520 * [backup-simplify]: Simplify (- 0) into 0 6.520 * [backup-simplify]: Simplify (+ 1 0) into 1 6.521 * [backup-simplify]: Simplify (+ (* (- lambda2) 1) (* 1 (- lambda2))) into (- (* 2 lambda2)) 6.521 * [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)))) 6.521 * [taylor]: Taking taylor expansion of (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) in lambda2 6.521 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in lambda2 6.521 * [taylor]: Taking taylor expansion of 2 in lambda2 6.521 * [backup-simplify]: Simplify 2 into 2 6.521 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 6.521 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.521 * [backup-simplify]: Simplify 0 into 0 6.521 * [backup-simplify]: Simplify 1 into 1 6.521 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 6.521 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 6.521 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 6.521 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.521 * [backup-simplify]: Simplify 0.5 into 0.5 6.521 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 6.521 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.521 * [backup-simplify]: Simplify phi2 into phi2 6.521 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.521 * [backup-simplify]: Simplify phi1 into phi1 6.521 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 6.521 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 6.521 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 6.521 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 6.522 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 6.522 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 6.522 * [backup-simplify]: Simplify (- 0) into 0 6.522 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 6.522 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 6.522 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 6.523 * [backup-simplify]: Simplify (* 2 0) into 0 6.523 * [backup-simplify]: Simplify (- 0) into 0 6.523 * [taylor]: Taking taylor expansion of 0 in phi1 6.523 * [backup-simplify]: Simplify 0 into 0 6.523 * [taylor]: Taking taylor expansion of 0 in phi2 6.523 * [backup-simplify]: Simplify 0 into 0 6.523 * [backup-simplify]: Simplify 0 into 0 6.524 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.524 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 6.524 * [backup-simplify]: Simplify (+ 0 0) into 0 6.525 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 6.525 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.526 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 6.526 * [backup-simplify]: Simplify (- 0) into 0 6.526 * [backup-simplify]: Simplify (+ 0 0) into 0 6.527 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 6.527 * [backup-simplify]: Simplify (- 0) into 0 6.527 * [backup-simplify]: Simplify (+ 0 0) into 0 6.527 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 1) (* 0 (- lambda2)))) into 1 6.528 * [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) 6.528 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 6.528 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 6.528 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 6.528 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.528 * [backup-simplify]: Simplify 0.5 into 0.5 6.528 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 6.528 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.528 * [backup-simplify]: Simplify phi2 into phi2 6.528 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.528 * [backup-simplify]: Simplify phi1 into phi1 6.528 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 6.528 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 6.528 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 6.528 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 6.528 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 6.528 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 6.529 * [backup-simplify]: Simplify (- 0) into 0 6.529 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 6.529 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 6.529 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 6.529 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 6.529 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 6.529 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.529 * [backup-simplify]: Simplify 0.5 into 0.5 6.529 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 6.529 * [taylor]: Taking taylor expansion of phi2 in phi1 6.529 * [backup-simplify]: Simplify phi2 into phi2 6.529 * [taylor]: Taking taylor expansion of phi1 in phi1 6.529 * [backup-simplify]: Simplify 0 into 0 6.529 * [backup-simplify]: Simplify 1 into 1 6.529 * [backup-simplify]: Simplify (+ phi2 0) into phi2 6.529 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 6.529 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 6.529 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 6.529 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 6.529 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 6.530 * [backup-simplify]: Simplify (- 0) into 0 6.530 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 6.530 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 6.530 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 6.530 * [taylor]: Taking taylor expansion of (cos (* 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 0) into 0 6.531 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 6.531 * [backup-simplify]: Simplify (* 1 1) into 1 6.531 * [backup-simplify]: Simplify 1 into 1 6.531 * [backup-simplify]: Simplify (+ 0) into 0 6.532 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 6.532 * [backup-simplify]: Simplify (+ 0 0) into 0 6.532 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 6.533 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.533 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 6.533 * [backup-simplify]: Simplify (- 0) into 0 6.534 * [backup-simplify]: Simplify (+ 0 0) into 0 6.534 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 6.534 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 6.535 * [backup-simplify]: Simplify (+ (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 6.535 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 6.535 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in phi1 6.535 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 6.535 * [taylor]: Taking taylor expansion of 2 in phi1 6.535 * [backup-simplify]: Simplify 2 into 2 6.535 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 6.535 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 6.535 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 6.535 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.535 * [backup-simplify]: Simplify 0.5 into 0.5 6.535 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 6.535 * [taylor]: Taking taylor expansion of phi2 in phi1 6.535 * [backup-simplify]: Simplify phi2 into phi2 6.535 * [taylor]: Taking taylor expansion of phi1 in phi1 6.535 * [backup-simplify]: Simplify 0 into 0 6.535 * [backup-simplify]: Simplify 1 into 1 6.535 * [backup-simplify]: Simplify (+ phi2 0) into phi2 6.535 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 6.535 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 6.535 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 6.535 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 6.535 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 6.536 * [backup-simplify]: Simplify (- 0) into 0 6.536 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 6.536 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 6.536 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 phi2)) 2)) into (* 2 (pow (cos (* 0.5 phi2)) 2)) 6.536 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 phi2)) 2))) into (- (* 2 (pow (cos (* 0.5 phi2)) 2))) 6.536 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 phi2)) 2))) in phi2 6.536 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 phi2)) 2)) in phi2 6.536 * [taylor]: Taking taylor expansion of 2 in phi2 6.536 * [backup-simplify]: Simplify 2 into 2 6.536 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 6.536 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 6.536 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 6.536 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.536 * [backup-simplify]: Simplify 0.5 into 0.5 6.536 * [taylor]: Taking taylor expansion of phi2 in phi2 6.536 * [backup-simplify]: Simplify 0 into 0 6.536 * [backup-simplify]: Simplify 1 into 1 6.537 * [backup-simplify]: Simplify (* 0.5 0) into 0 6.537 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 6.538 * [backup-simplify]: Simplify (* 1 1) into 1 6.538 * [backup-simplify]: Simplify (* 2 1) into 2 6.538 * [backup-simplify]: Simplify (- 2) into -2 6.538 * [backup-simplify]: Simplify -2 into -2 6.538 * [backup-simplify]: Simplify (* 1 1) into 1 6.539 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 6.539 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 6.539 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 6.539 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 6.539 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 6.539 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.539 * [backup-simplify]: Simplify 0.5 into 0.5 6.539 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 6.539 * [taylor]: Taking taylor expansion of phi2 in phi1 6.539 * [backup-simplify]: Simplify phi2 into phi2 6.539 * [taylor]: Taking taylor expansion of phi1 in phi1 6.539 * [backup-simplify]: Simplify 0 into 0 6.539 * [backup-simplify]: Simplify 1 into 1 6.539 * [backup-simplify]: Simplify (+ phi2 0) into phi2 6.539 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 6.539 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 6.539 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 6.539 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 6.539 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 6.539 * [backup-simplify]: Simplify (- 0) into 0 6.539 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 6.540 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 6.540 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) 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 0) into 0 6.541 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 6.541 * [backup-simplify]: Simplify (* 1 1) into 1 6.541 * [backup-simplify]: Simplify 1 into 1 6.541 * [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))) 6.542 * [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)) 6.542 * [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 6.542 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 6.542 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in phi2 6.542 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 6.542 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 6.542 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.542 * [backup-simplify]: Simplify lambda1 into lambda1 6.542 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 6.542 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 6.542 * [taylor]: Taking taylor expansion of lambda2 in phi2 6.542 * [backup-simplify]: Simplify lambda2 into lambda2 6.542 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 6.542 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 6.542 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 6.542 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.542 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.542 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 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 (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.542 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.542 * [taylor]: Taking taylor expansion of phi1 in phi2 6.542 * [backup-simplify]: Simplify phi1 into phi1 6.543 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.543 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.543 * [taylor]: Taking taylor expansion of phi2 in phi2 6.543 * [backup-simplify]: Simplify 0 into 0 6.543 * [backup-simplify]: Simplify 1 into 1 6.543 * [backup-simplify]: Simplify (/ 1 1) into 1 6.543 * [backup-simplify]: Simplify (+ 0 1) into 1 6.543 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.544 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.544 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 6.544 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in phi1 6.544 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 6.544 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 6.544 * [taylor]: Taking taylor expansion of lambda1 in phi1 6.544 * [backup-simplify]: Simplify lambda1 into lambda1 6.544 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 6.544 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 6.544 * [taylor]: Taking taylor expansion of lambda2 in phi1 6.544 * [backup-simplify]: Simplify lambda2 into lambda2 6.544 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 6.544 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 6.544 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 6.544 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.544 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.544 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.544 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.544 * [backup-simplify]: Simplify 0.5 into 0.5 6.544 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.544 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.544 * [taylor]: Taking taylor expansion of phi1 in phi1 6.544 * [backup-simplify]: Simplify 0 into 0 6.544 * [backup-simplify]: Simplify 1 into 1 6.544 * [backup-simplify]: Simplify (/ 1 1) into 1 6.544 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.544 * [taylor]: Taking taylor expansion of phi2 in phi1 6.544 * [backup-simplify]: Simplify phi2 into phi2 6.544 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.545 * [backup-simplify]: Simplify (+ 1 0) into 1 6.545 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.545 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.545 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda2 6.545 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda2 6.545 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 6.545 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 6.545 * [taylor]: Taking taylor expansion of lambda1 in lambda2 6.545 * [backup-simplify]: Simplify lambda1 into lambda1 6.545 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 6.545 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 6.545 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.545 * [backup-simplify]: Simplify 0 into 0 6.545 * [backup-simplify]: Simplify 1 into 1 6.546 * [backup-simplify]: Simplify (/ 1 1) into 1 6.546 * [backup-simplify]: Simplify (- 1) into -1 6.546 * [backup-simplify]: Simplify (+ 0 -1) into -1 6.546 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.546 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.546 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.546 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.546 * [backup-simplify]: Simplify 0.5 into 0.5 6.546 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.546 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.546 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.546 * [backup-simplify]: Simplify phi1 into phi1 6.546 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.546 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.546 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.546 * [backup-simplify]: Simplify phi2 into phi2 6.546 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.546 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.547 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.547 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.547 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.547 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.547 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.547 * [backup-simplify]: Simplify (- 0) into 0 6.547 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.547 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 6.547 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda1 6.547 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 6.547 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 6.547 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.547 * [backup-simplify]: Simplify 0 into 0 6.547 * [backup-simplify]: Simplify 1 into 1 6.548 * [backup-simplify]: Simplify (/ 1 1) into 1 6.548 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 6.548 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.548 * [backup-simplify]: Simplify lambda2 into lambda2 6.548 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 6.548 * [backup-simplify]: Simplify (+ 1 0) into 1 6.548 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.548 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.548 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.548 * [taylor]: Taking taylor expansion of 0.5 in lambda1 6.548 * [backup-simplify]: Simplify 0.5 into 0.5 6.548 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.548 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.548 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.548 * [backup-simplify]: Simplify phi1 into phi1 6.548 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.548 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.548 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.548 * [backup-simplify]: Simplify phi2 into phi2 6.548 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.548 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.549 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.549 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.549 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.549 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.549 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.549 * [backup-simplify]: Simplify (- 0) into 0 6.549 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.549 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 6.549 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda1 6.549 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 6.549 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 6.549 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.549 * [backup-simplify]: Simplify 0 into 0 6.550 * [backup-simplify]: Simplify 1 into 1 6.550 * [backup-simplify]: Simplify (/ 1 1) into 1 6.550 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 6.550 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.550 * [backup-simplify]: Simplify lambda2 into lambda2 6.550 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 6.550 * [backup-simplify]: Simplify (+ 1 0) into 1 6.550 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.550 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.550 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.550 * [taylor]: Taking taylor expansion of 0.5 in lambda1 6.550 * [backup-simplify]: Simplify 0.5 into 0.5 6.550 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.550 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.550 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.550 * [backup-simplify]: Simplify phi1 into phi1 6.550 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.550 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.550 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.550 * [backup-simplify]: Simplify phi2 into phi2 6.550 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.551 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.551 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.551 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.551 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.551 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.551 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.551 * [backup-simplify]: Simplify (- 0) into 0 6.551 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.552 * [backup-simplify]: Simplify (* 1 1) into 1 6.552 * [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) 6.552 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.552 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.552 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.552 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.552 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.552 * [backup-simplify]: Simplify 0.5 into 0.5 6.552 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.552 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.552 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.552 * [backup-simplify]: Simplify phi1 into phi1 6.552 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.552 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.552 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.552 * [backup-simplify]: Simplify phi2 into phi2 6.552 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.552 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.553 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.553 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.553 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.553 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.553 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.553 * [backup-simplify]: Simplify (- 0) into 0 6.553 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.554 * [backup-simplify]: Simplify (+ 0) into 0 6.554 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.554 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.554 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.554 * [backup-simplify]: Simplify (+ 0 0) into 0 6.555 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.555 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.556 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.556 * [backup-simplify]: Simplify (- 0) into 0 6.556 * [backup-simplify]: Simplify (+ 0 0) into 0 6.556 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.557 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 6.557 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 6.557 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 6.557 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 lambda2))) (* (- (/ 1 lambda2)) 1)) into (- (* 2 (/ 1 lambda2))) 6.558 * [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))) 6.558 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2 6.558 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 6.558 * [taylor]: Taking taylor expansion of 2 in lambda2 6.558 * [backup-simplify]: Simplify 2 into 2 6.558 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 6.558 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.558 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.558 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.558 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.558 * [backup-simplify]: Simplify 0.5 into 0.5 6.558 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.558 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.558 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.558 * [backup-simplify]: Simplify phi1 into phi1 6.558 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.558 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.558 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.558 * [backup-simplify]: Simplify phi2 into phi2 6.558 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.558 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.558 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.558 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.558 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.559 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.559 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.566 * [backup-simplify]: Simplify (- 0) into 0 6.566 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.566 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.566 * [backup-simplify]: Simplify 0 into 0 6.566 * [backup-simplify]: Simplify 1 into 1 6.566 * [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) 6.566 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.567 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.568 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 6.568 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.568 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.568 * [backup-simplify]: Simplify (+ 0 0) into 0 6.569 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.569 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.570 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.570 * [backup-simplify]: Simplify (- 0) into 0 6.570 * [backup-simplify]: Simplify (+ 0 0) into 0 6.571 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 6.571 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.571 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 6.572 * [backup-simplify]: Simplify (- 0) into 0 6.572 * [backup-simplify]: Simplify (+ 0 0) into 0 6.572 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) (- (/ 1 lambda2))) (* 0 1))) into (/ 1 (pow lambda2 2)) 6.573 * [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)) 6.573 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 6.573 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.573 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.573 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.573 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.573 * [backup-simplify]: Simplify 0.5 into 0.5 6.573 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.573 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.573 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.573 * [backup-simplify]: Simplify phi1 into phi1 6.573 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.573 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.573 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.573 * [backup-simplify]: Simplify phi2 into phi2 6.573 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.574 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.574 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.574 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.574 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.574 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.574 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.574 * [backup-simplify]: Simplify (- 0) into 0 6.574 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.575 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 6.575 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.575 * [backup-simplify]: Simplify 0 into 0 6.575 * [backup-simplify]: Simplify 1 into 1 6.575 * [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) 6.575 * [backup-simplify]: Simplify (* 1 1) into 1 6.575 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.575 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.575 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.575 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.575 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.575 * [backup-simplify]: Simplify 0.5 into 0.5 6.575 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.575 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.575 * [taylor]: Taking taylor expansion of phi1 in phi1 6.575 * [backup-simplify]: Simplify 0 into 0 6.575 * [backup-simplify]: Simplify 1 into 1 6.576 * [backup-simplify]: Simplify (/ 1 1) into 1 6.576 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.576 * [taylor]: Taking taylor expansion of phi2 in phi1 6.576 * [backup-simplify]: Simplify phi2 into phi2 6.576 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.576 * [backup-simplify]: Simplify (+ 1 0) into 1 6.576 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.576 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.577 * [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) 6.577 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.577 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.577 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.577 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.577 * [backup-simplify]: Simplify 0.5 into 0.5 6.577 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.577 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.577 * [taylor]: Taking taylor expansion of phi1 in phi2 6.577 * [backup-simplify]: Simplify phi1 into phi1 6.577 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.577 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.577 * [taylor]: Taking taylor expansion of phi2 in phi2 6.577 * [backup-simplify]: Simplify 0 into 0 6.577 * [backup-simplify]: Simplify 1 into 1 6.577 * [backup-simplify]: Simplify (/ 1 1) into 1 6.577 * [backup-simplify]: Simplify (+ 0 1) into 1 6.578 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.578 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.578 * [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) 6.578 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.578 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.579 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.579 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi1 6.579 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 6.579 * [taylor]: Taking taylor expansion of 2 in phi1 6.579 * [backup-simplify]: Simplify 2 into 2 6.579 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.579 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.579 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.579 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.579 * [backup-simplify]: Simplify 0.5 into 0.5 6.579 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.579 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.579 * [taylor]: Taking taylor expansion of phi1 in phi1 6.579 * [backup-simplify]: Simplify 0 into 0 6.579 * [backup-simplify]: Simplify 1 into 1 6.579 * [backup-simplify]: Simplify (/ 1 1) into 1 6.579 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.579 * [taylor]: Taking taylor expansion of phi2 in phi1 6.579 * [backup-simplify]: Simplify phi2 into phi2 6.579 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.580 * [backup-simplify]: Simplify (+ 1 0) into 1 6.580 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.580 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.581 * [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) 6.581 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.581 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.581 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi2 6.581 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 6.581 * [taylor]: Taking taylor expansion of 2 in phi2 6.581 * [backup-simplify]: Simplify 2 into 2 6.581 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.581 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.581 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.581 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.581 * [backup-simplify]: Simplify 0.5 into 0.5 6.582 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.582 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.582 * [taylor]: Taking taylor expansion of phi1 in phi2 6.582 * [backup-simplify]: Simplify phi1 into phi1 6.582 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.582 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.582 * [taylor]: Taking taylor expansion of phi2 in phi2 6.582 * [backup-simplify]: Simplify 0 into 0 6.582 * [backup-simplify]: Simplify 1 into 1 6.582 * [backup-simplify]: Simplify (/ 1 1) into 1 6.583 * [backup-simplify]: Simplify (+ 0 1) into 1 6.583 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.583 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.584 * [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) 6.584 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.584 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.585 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.585 * [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) 6.585 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.585 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.585 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.585 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.585 * [backup-simplify]: Simplify 0.5 into 0.5 6.585 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.585 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.585 * [taylor]: Taking taylor expansion of phi1 in phi1 6.585 * [backup-simplify]: Simplify 0 into 0 6.585 * [backup-simplify]: Simplify 1 into 1 6.586 * [backup-simplify]: Simplify (/ 1 1) into 1 6.586 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.586 * [taylor]: Taking taylor expansion of phi2 in phi1 6.586 * [backup-simplify]: Simplify phi2 into phi2 6.586 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.586 * [backup-simplify]: Simplify (+ 1 0) into 1 6.587 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.587 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.587 * [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) 6.587 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.588 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.588 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.588 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.588 * [backup-simplify]: Simplify 0.5 into 0.5 6.588 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.588 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.588 * [taylor]: Taking taylor expansion of phi1 in phi2 6.588 * [backup-simplify]: Simplify phi1 into phi1 6.588 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.588 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.588 * [taylor]: Taking taylor expansion of phi2 in phi2 6.588 * [backup-simplify]: Simplify 0 into 0 6.588 * [backup-simplify]: Simplify 1 into 1 6.588 * [backup-simplify]: Simplify (/ 1 1) into 1 6.589 * [backup-simplify]: Simplify (+ 0 1) into 1 6.589 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.589 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.590 * [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) 6.590 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.592 * [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)))) 6.593 * [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)) 6.593 * [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 6.593 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 6.593 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in phi2 6.593 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 6.593 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 6.593 * [taylor]: Taking taylor expansion of lambda2 in phi2 6.593 * [backup-simplify]: Simplify lambda2 into lambda2 6.593 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 6.593 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 6.593 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.593 * [backup-simplify]: Simplify lambda1 into lambda1 6.593 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 6.593 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 6.593 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 6.594 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.594 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.594 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.594 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.594 * [backup-simplify]: Simplify -0.5 into -0.5 6.594 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.594 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.594 * [taylor]: Taking taylor expansion of phi1 in phi2 6.594 * [backup-simplify]: Simplify phi1 into phi1 6.594 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.594 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.594 * [taylor]: Taking taylor expansion of phi2 in phi2 6.594 * [backup-simplify]: Simplify 0 into 0 6.594 * [backup-simplify]: Simplify 1 into 1 6.595 * [backup-simplify]: Simplify (/ 1 1) into 1 6.595 * [backup-simplify]: Simplify (+ 0 1) into 1 6.596 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.596 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.596 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 6.596 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in phi1 6.596 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 6.596 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 6.596 * [taylor]: Taking taylor expansion of lambda2 in phi1 6.596 * [backup-simplify]: Simplify lambda2 into lambda2 6.596 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 6.596 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 6.596 * [taylor]: Taking taylor expansion of lambda1 in phi1 6.596 * [backup-simplify]: Simplify lambda1 into lambda1 6.596 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 6.596 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 6.596 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 6.596 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.596 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.597 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.597 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.597 * [backup-simplify]: Simplify -0.5 into -0.5 6.597 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.597 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.597 * [taylor]: Taking taylor expansion of phi1 in phi1 6.597 * [backup-simplify]: Simplify 0 into 0 6.597 * [backup-simplify]: Simplify 1 into 1 6.597 * [backup-simplify]: Simplify (/ 1 1) into 1 6.597 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.597 * [taylor]: Taking taylor expansion of phi2 in phi1 6.597 * [backup-simplify]: Simplify phi2 into phi2 6.597 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.598 * [backup-simplify]: Simplify (+ 1 0) into 1 6.598 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.598 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.598 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda2 6.598 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda2 6.598 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 6.598 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 6.598 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.599 * [backup-simplify]: Simplify 0 into 0 6.599 * [backup-simplify]: Simplify 1 into 1 6.599 * [backup-simplify]: Simplify (/ 1 1) into 1 6.599 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 6.599 * [taylor]: Taking taylor expansion of lambda1 in lambda2 6.599 * [backup-simplify]: Simplify lambda1 into lambda1 6.599 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 6.600 * [backup-simplify]: Simplify (+ 1 0) into 1 6.600 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.600 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.600 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.600 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.600 * [backup-simplify]: Simplify -0.5 into -0.5 6.600 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.600 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.600 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.600 * [backup-simplify]: Simplify phi1 into phi1 6.600 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.600 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.600 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.600 * [backup-simplify]: Simplify phi2 into phi2 6.600 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.600 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.601 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.601 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.601 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.601 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.601 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.602 * [backup-simplify]: Simplify (- 0) into 0 6.602 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.602 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 6.602 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda1 6.602 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 6.602 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 6.602 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.602 * [backup-simplify]: Simplify lambda2 into lambda2 6.603 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 6.603 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 6.603 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.603 * [backup-simplify]: Simplify 0 into 0 6.603 * [backup-simplify]: Simplify 1 into 1 6.603 * [backup-simplify]: Simplify (/ 1 1) into 1 6.603 * [backup-simplify]: Simplify (- 1) into -1 6.604 * [backup-simplify]: Simplify (+ 0 -1) into -1 6.604 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.604 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.604 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.604 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.604 * [backup-simplify]: Simplify -0.5 into -0.5 6.604 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.604 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.604 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.604 * [backup-simplify]: Simplify phi1 into phi1 6.604 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.604 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.604 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.604 * [backup-simplify]: Simplify phi2 into phi2 6.604 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.604 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.605 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.605 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.605 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.605 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.605 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.606 * [backup-simplify]: Simplify (- 0) into 0 6.606 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.606 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 6.606 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda1 6.606 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 6.606 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 6.606 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.606 * [backup-simplify]: Simplify lambda2 into lambda2 6.606 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 6.606 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 6.606 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.606 * [backup-simplify]: Simplify 0 into 0 6.606 * [backup-simplify]: Simplify 1 into 1 6.607 * [backup-simplify]: Simplify (/ 1 1) into 1 6.607 * [backup-simplify]: Simplify (- 1) into -1 6.607 * [backup-simplify]: Simplify (+ 0 -1) into -1 6.607 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.608 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.608 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.608 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.608 * [backup-simplify]: Simplify -0.5 into -0.5 6.608 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.608 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.608 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.608 * [backup-simplify]: Simplify phi1 into phi1 6.608 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.608 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.608 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.608 * [backup-simplify]: Simplify phi2 into phi2 6.608 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.608 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.608 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.608 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.609 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.609 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.609 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.609 * [backup-simplify]: Simplify (- 0) into 0 6.610 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.610 * [backup-simplify]: Simplify (* -1 -1) into 1 6.610 * [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) 6.611 * [backup-simplify]: Simplify (* 1 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.611 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.611 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.611 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.611 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.611 * [backup-simplify]: Simplify -0.5 into -0.5 6.611 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.611 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.611 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.611 * [backup-simplify]: Simplify phi1 into phi1 6.611 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.611 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.611 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.611 * [backup-simplify]: Simplify phi2 into phi2 6.611 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.611 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.611 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.612 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.612 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.612 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.612 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.613 * [backup-simplify]: Simplify (- 0) into 0 6.613 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.613 * [backup-simplify]: Simplify (+ 0) into 0 6.614 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.614 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.614 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.615 * [backup-simplify]: Simplify (+ 0 0) into 0 6.615 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.616 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.617 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.617 * [backup-simplify]: Simplify (- 0) into 0 6.618 * [backup-simplify]: Simplify (+ 0 0) into 0 6.618 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.619 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 6.619 * [backup-simplify]: Simplify (- 0) into 0 6.619 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 6.620 * [backup-simplify]: Simplify (+ (* -1 (/ 1 lambda2)) (* (/ 1 lambda2) -1)) into (- (* 2 (/ 1 lambda2))) 6.621 * [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))) 6.621 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2 6.621 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 6.621 * [taylor]: Taking taylor expansion of 2 in lambda2 6.621 * [backup-simplify]: Simplify 2 into 2 6.621 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 6.621 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.621 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.621 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.621 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.621 * [backup-simplify]: Simplify -0.5 into -0.5 6.621 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.621 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.621 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.621 * [backup-simplify]: Simplify phi1 into phi1 6.621 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.621 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.621 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.621 * [backup-simplify]: Simplify phi2 into phi2 6.621 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.621 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.622 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.622 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.622 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.622 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.622 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.623 * [backup-simplify]: Simplify (- 0) into 0 6.623 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.623 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.623 * [backup-simplify]: Simplify 0 into 0 6.623 * [backup-simplify]: Simplify 1 into 1 6.624 * [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) 6.624 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.625 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.626 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 6.626 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.627 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.627 * [backup-simplify]: Simplify (+ 0 0) into 0 6.628 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.629 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.629 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.630 * [backup-simplify]: Simplify (- 0) into 0 6.630 * [backup-simplify]: Simplify (+ 0 0) into 0 6.631 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 6.631 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 6.632 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.632 * [backup-simplify]: Simplify (- 0) into 0 6.633 * [backup-simplify]: Simplify (+ 0 0) into 0 6.634 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) (/ 1 lambda2)) (* 0 -1))) into (/ 1 (pow lambda2 2)) 6.635 * [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)) 6.635 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 6.635 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.635 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.635 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.635 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.635 * [backup-simplify]: Simplify -0.5 into -0.5 6.635 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.635 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.635 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.635 * [backup-simplify]: Simplify phi1 into phi1 6.635 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.635 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.635 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.635 * [backup-simplify]: Simplify phi2 into phi2 6.635 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.635 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.636 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.636 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.636 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.636 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.636 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.637 * [backup-simplify]: Simplify (- 0) into 0 6.637 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.637 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 6.637 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.637 * [backup-simplify]: Simplify 0 into 0 6.637 * [backup-simplify]: Simplify 1 into 1 6.638 * [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) 6.638 * [backup-simplify]: Simplify (* 1 1) into 1 6.638 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.638 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.638 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.639 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.639 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.639 * [backup-simplify]: Simplify -0.5 into -0.5 6.639 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.639 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.639 * [taylor]: Taking taylor expansion of phi1 in phi1 6.639 * [backup-simplify]: Simplify 0 into 0 6.639 * [backup-simplify]: Simplify 1 into 1 6.639 * [backup-simplify]: Simplify (/ 1 1) into 1 6.639 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.639 * [taylor]: Taking taylor expansion of phi2 in phi1 6.639 * [backup-simplify]: Simplify phi2 into phi2 6.639 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.640 * [backup-simplify]: Simplify (+ 1 0) into 1 6.640 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.640 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.641 * [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) 6.641 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.641 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.641 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.641 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.641 * [backup-simplify]: Simplify -0.5 into -0.5 6.641 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.641 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.641 * [taylor]: Taking taylor expansion of phi1 in phi2 6.641 * [backup-simplify]: Simplify phi1 into phi1 6.641 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.641 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.641 * [taylor]: Taking taylor expansion of phi2 in phi2 6.641 * [backup-simplify]: Simplify 0 into 0 6.641 * [backup-simplify]: Simplify 1 into 1 6.642 * [backup-simplify]: Simplify (/ 1 1) into 1 6.642 * [backup-simplify]: Simplify (+ 0 1) into 1 6.642 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.643 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.643 * [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) 6.643 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.644 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.644 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.644 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi1 6.644 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 6.644 * [taylor]: Taking taylor expansion of 2 in phi1 6.644 * [backup-simplify]: Simplify 2 into 2 6.644 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.644 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.644 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.644 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.644 * [backup-simplify]: Simplify -0.5 into -0.5 6.644 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.644 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.645 * [taylor]: Taking taylor expansion of phi1 in phi1 6.645 * [backup-simplify]: Simplify 0 into 0 6.645 * [backup-simplify]: Simplify 1 into 1 6.645 * [backup-simplify]: Simplify (/ 1 1) into 1 6.645 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.645 * [taylor]: Taking taylor expansion of phi2 in phi1 6.645 * [backup-simplify]: Simplify phi2 into phi2 6.645 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.646 * [backup-simplify]: Simplify (+ 1 0) into 1 6.646 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.646 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.647 * [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) 6.647 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.647 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.647 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi2 6.647 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 6.647 * [taylor]: Taking taylor expansion of 2 in phi2 6.647 * [backup-simplify]: Simplify 2 into 2 6.648 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.648 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.648 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.648 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.648 * [backup-simplify]: Simplify -0.5 into -0.5 6.648 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.648 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.648 * [taylor]: Taking taylor expansion of phi1 in phi2 6.648 * [backup-simplify]: Simplify phi1 into phi1 6.648 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.648 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.648 * [taylor]: Taking taylor expansion of phi2 in phi2 6.648 * [backup-simplify]: Simplify 0 into 0 6.648 * [backup-simplify]: Simplify 1 into 1 6.648 * [backup-simplify]: Simplify (/ 1 1) into 1 6.648 * [backup-simplify]: Simplify (+ 0 1) into 1 6.649 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.649 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.649 * [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) 6.649 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.649 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.650 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.650 * [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) 6.650 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.650 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.650 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.650 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.650 * [backup-simplify]: Simplify -0.5 into -0.5 6.650 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.650 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.650 * [taylor]: Taking taylor expansion of phi1 in phi1 6.650 * [backup-simplify]: Simplify 0 into 0 6.650 * [backup-simplify]: Simplify 1 into 1 6.650 * [backup-simplify]: Simplify (/ 1 1) into 1 6.650 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.650 * [taylor]: Taking taylor expansion of phi2 in phi1 6.650 * [backup-simplify]: Simplify phi2 into phi2 6.650 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.651 * [backup-simplify]: Simplify (+ 1 0) into 1 6.651 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.651 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.651 * [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) 6.651 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.651 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.651 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.651 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.651 * [backup-simplify]: Simplify -0.5 into -0.5 6.651 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.652 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.652 * [taylor]: Taking taylor expansion of phi1 in phi2 6.652 * [backup-simplify]: Simplify phi1 into phi1 6.652 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.652 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.652 * [taylor]: Taking taylor expansion of phi2 in phi2 6.652 * [backup-simplify]: Simplify 0 into 0 6.652 * [backup-simplify]: Simplify 1 into 1 6.652 * [backup-simplify]: Simplify (/ 1 1) into 1 6.652 * [backup-simplify]: Simplify (+ 0 1) into 1 6.653 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.653 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.653 * [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) 6.653 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.654 * [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)))) 6.655 * * * [progress]: simplifying candidates 6.658 * [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) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (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) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (* (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))) (sqrt (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt 1) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3)))))) (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2)))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3)))))) (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (+ phi1 phi2) (+ phi1 phi2)))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ 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Extracting # 2 : cost 0 6.866 * * [simplify]: Extracting # 3 : cost 0 6.869 * * [simplify]: Extracting # 4 : cost 0 6.870 * * [simplify]: Extracting # 5 : cost 0 6.872 * * [simplify]: iteration 1 : 1320 enodes (cost 7209 ) 7.413 * * [simplify]: Extracting # 0 : cost 0 7.418 * * [simplify]: Extracting # 1 : cost 0 7.426 * * [simplify]: Extracting # 2 : cost 0 7.433 * * [simplify]: Extracting # 3 : cost 0 7.445 * * [simplify]: Extracting # 4 : cost 0 7.464 * * [simplify]: Extracting # 5 : cost 0 7.477 * * [simplify]: iteration done: 5000 enodes (cost 6835 ) 7.479 * [simplify]: Simplified to: (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 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(* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2))))) (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ lambda1 lambda2))) (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ lambda1 lambda2) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (+ lambda1 lambda2) (+ phi1 phi2))) (sqrt (+ (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* 2 3)) (pow (- phi1 phi2) (* 2 3)))) (sqrt (+ (* (- phi1 phi2) (- (pow (- phi1 phi2) 3) (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (- phi1 phi2)))) (* (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) 3) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))) (sqrt (- (* (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) 3) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (pow (- phi1 phi2) 3) (- phi1 phi2)))) (sqrt (- (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) 1/2 (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (pow (cos (/ (+ phi1 phi2) 2.0)) 3) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (pow (cos (/ (+ phi1 phi2) 2.0)) 3) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) 2 2 2 2 (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) 2 2 (* 2 (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (* 2 (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (* 2 (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (* 2 (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (* 2 (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (exp (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* 2 3)) (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* 2 3)) (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* 2 3)) (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* 2 3)) (* (cbrt (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (cbrt (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* 2 3)) (fabs (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (fabs (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2)) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2)) (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ lambda1 lambda2) (+ lambda1 lambda2)) (* (- lambda1 lambda2) (- lambda1 lambda2)) (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) 2 2 2 2 (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- lambda1 lambda2)) (* (cos (/ (+ phi1 phi2) 2.0)) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (- phi2 phi1) (- (+ (* (/ phi2 (cos (* 0.5 (+ phi2 phi1)))) (+ (/ (* lambda2 phi1) (* lambda1 lambda1)) (/ phi1 lambda1))) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))) (+ (* (/ phi2 (cos (* 0.5 (+ phi2 phi1)))) (+ (/ (* lambda2 phi1) (* lambda1 lambda1)) (/ phi1 lambda1))) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 7.481 * * * [progress]: adding candidates to table 8.179 * * [progress]: iteration 2 / 4 8.179 * * * [progress]: picking best candidate 8.210 * * * * [pick]: Picked # 8.210 * * * [progress]: localizing error 8.259 * * * [progress]: generating rewritten candidates 8.259 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2) 8.976 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2 2 1 1) 8.999 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 1 1 1) 9.017 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1) 9.241 * * * [progress]: generating series expansions 9.241 * * * * [progress]: [ 1 / 4 ] generating series at (2 2) 9.243 * [backup-simplify]: Simplify (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 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)))))) 9.243 * [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 (phi2 phi1 lambda1 lambda2) around 0 9.243 * [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 9.243 * [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 9.243 * [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 9.243 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.243 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.243 * [backup-simplify]: Simplify phi2 into phi2 9.243 * [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 9.243 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 9.243 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.243 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.243 * [backup-simplify]: Simplify 0 into 0 9.243 * [backup-simplify]: Simplify 1 into 1 9.243 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 9.243 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 9.243 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 9.243 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.244 * [backup-simplify]: Simplify 0.5 into 0.5 9.244 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 9.244 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.244 * [backup-simplify]: Simplify phi2 into phi2 9.244 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.244 * [backup-simplify]: Simplify phi1 into phi1 9.244 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.244 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.244 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.244 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.244 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.244 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.245 * [backup-simplify]: Simplify (- 0) into 0 9.245 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.245 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2 9.245 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 9.245 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 9.245 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 9.245 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 9.245 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.246 * [backup-simplify]: Simplify 0.5 into 0.5 9.246 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 9.246 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.246 * [backup-simplify]: Simplify phi2 into phi2 9.246 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.246 * [backup-simplify]: Simplify phi1 into phi1 9.246 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.246 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.246 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.246 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.246 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.246 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.247 * [backup-simplify]: Simplify (- 0) into 0 9.247 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.247 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 9.247 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.247 * [backup-simplify]: Simplify lambda1 into lambda1 9.247 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.247 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.247 * [backup-simplify]: Simplify phi1 into phi1 9.247 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 9.247 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 9.247 * [taylor]: Taking taylor expansion of 2 in lambda2 9.247 * [backup-simplify]: Simplify 2 into 2 9.247 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 9.247 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.247 * [backup-simplify]: Simplify phi2 into phi2 9.247 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.247 * [backup-simplify]: Simplify phi1 into phi1 9.247 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 9.247 * [taylor]: Taking taylor expansion of 2 in lambda2 9.247 * [backup-simplify]: Simplify 2 into 2 9.247 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 9.247 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.247 * [backup-simplify]: Simplify 0 into 0 9.247 * [backup-simplify]: Simplify 1 into 1 9.247 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 9.247 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 9.248 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 9.248 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 9.248 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.248 * [backup-simplify]: Simplify 0.5 into 0.5 9.248 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 9.248 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.248 * [backup-simplify]: Simplify phi2 into phi2 9.248 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.248 * [backup-simplify]: Simplify phi1 into phi1 9.248 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.248 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.248 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.248 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.248 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.248 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.248 * [backup-simplify]: Simplify (- 0) into 0 9.248 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.248 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.248 * [backup-simplify]: Simplify lambda1 into lambda1 9.248 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.249 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 9.249 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.249 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 9.249 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.249 * [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)) 9.249 * [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)) 9.250 * [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))) 9.250 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 9.250 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 9.250 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 9.250 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 9.250 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 9.251 * [backup-simplify]: Simplify (* 2 0) into 0 9.251 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 9.251 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 9.251 * [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))) 9.252 * [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)))) 9.252 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.252 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.252 * [backup-simplify]: Simplify (+ 0) into 0 9.253 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.253 * [backup-simplify]: Simplify (+ 0 0) into 0 9.253 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.254 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.254 * [backup-simplify]: Simplify (- 0) into 0 9.254 * [backup-simplify]: Simplify (+ 0 0) into 0 9.255 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 9.255 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 9.255 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.255 * [backup-simplify]: Simplify (+ 0 0) into 0 9.255 * [backup-simplify]: Simplify (+ 0 0) into 0 9.256 * [backup-simplify]: Simplify (+ 0 0) into 0 9.256 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 9.256 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 9.256 * [backup-simplify]: Simplify (+ 0) into 0 9.257 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.257 * [backup-simplify]: Simplify (+ 0 0) into 0 9.257 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.258 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.258 * [backup-simplify]: Simplify (- 0) into 0 9.258 * [backup-simplify]: Simplify (+ 0 0) into 0 9.258 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 9.259 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 9.259 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 9.260 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 9.260 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 9.260 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 9.260 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 9.261 * [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))) 9.261 * [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 9.261 * [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 9.261 * [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 9.261 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 9.261 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.261 * [backup-simplify]: Simplify phi2 into phi2 9.261 * [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 9.261 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 9.261 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.261 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.261 * [backup-simplify]: Simplify lambda2 into lambda2 9.261 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 9.261 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 9.261 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 9.261 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.261 * [backup-simplify]: Simplify 0.5 into 0.5 9.261 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 9.261 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.261 * [backup-simplify]: Simplify phi2 into phi2 9.261 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.261 * [backup-simplify]: Simplify phi1 into phi1 9.261 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.261 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.261 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.261 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.262 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.262 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.262 * [backup-simplify]: Simplify (- 0) into 0 9.262 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.262 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 9.262 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 9.262 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 9.262 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 9.262 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 9.262 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.262 * [backup-simplify]: Simplify 0.5 into 0.5 9.262 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 9.262 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.262 * [backup-simplify]: Simplify phi2 into phi2 9.262 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.262 * [backup-simplify]: Simplify phi1 into phi1 9.262 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.262 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.262 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.262 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.263 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.263 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.263 * [backup-simplify]: Simplify (- 0) into 0 9.263 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.263 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.263 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.263 * [backup-simplify]: Simplify 0 into 0 9.263 * [backup-simplify]: Simplify 1 into 1 9.263 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 9.263 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.263 * [backup-simplify]: Simplify phi1 into phi1 9.263 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 9.263 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 9.263 * [taylor]: Taking taylor expansion of 2 in lambda1 9.263 * [backup-simplify]: Simplify 2 into 2 9.263 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 9.263 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.263 * [backup-simplify]: Simplify phi2 into phi2 9.263 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.263 * [backup-simplify]: Simplify phi1 into phi1 9.263 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 9.263 * [taylor]: Taking taylor expansion of 2 in lambda1 9.263 * [backup-simplify]: Simplify 2 into 2 9.263 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 9.263 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.263 * [backup-simplify]: Simplify lambda2 into lambda2 9.263 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 9.263 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 9.263 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 9.263 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 9.263 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.263 * [backup-simplify]: Simplify 0.5 into 0.5 9.263 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 9.263 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.263 * [backup-simplify]: Simplify phi2 into phi2 9.264 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.264 * [backup-simplify]: Simplify phi1 into phi1 9.264 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.264 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.264 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.264 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.264 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.264 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.264 * [backup-simplify]: Simplify (- 0) into 0 9.264 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.264 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.264 * [backup-simplify]: Simplify 0 into 0 9.264 * [backup-simplify]: Simplify 1 into 1 9.264 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.264 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.264 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 9.265 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 9.265 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.265 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 9.265 * [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)) 9.265 * [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))) 9.265 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 9.266 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 9.266 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 9.266 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 9.266 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.266 * [backup-simplify]: Simplify (* 2 0) into 0 9.266 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 9.266 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 9.267 * [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))) 9.267 * [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)))) 9.267 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.268 * [backup-simplify]: Simplify (+ 0) into 0 9.268 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.268 * [backup-simplify]: Simplify (+ 0 0) into 0 9.268 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.269 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.269 * [backup-simplify]: Simplify (- 0) into 0 9.270 * [backup-simplify]: Simplify (+ 0 0) into 0 9.270 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 9.270 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.270 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 9.270 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.270 * [backup-simplify]: Simplify (+ 0 0) into 0 9.271 * [backup-simplify]: Simplify (+ 0 0) into 0 9.271 * [backup-simplify]: Simplify (+ 0 0) into 0 9.271 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 9.271 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 9.272 * [backup-simplify]: Simplify (+ 0) into 0 9.272 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.272 * [backup-simplify]: Simplify (+ 0 0) into 0 9.272 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.273 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.273 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.273 * [backup-simplify]: Simplify (- 0) into 0 9.274 * [backup-simplify]: Simplify (+ 0 0) into 0 9.274 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 9.274 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 9.275 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 9.275 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 9.275 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 9.276 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 9.276 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 9.277 * [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)))) 9.277 * [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 9.277 * [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 9.277 * [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 9.277 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 9.277 * [taylor]: Taking taylor expansion of phi2 in phi1 9.277 * [backup-simplify]: Simplify phi2 into phi2 9.277 * [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 9.277 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 9.277 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.277 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.277 * [backup-simplify]: Simplify lambda2 into lambda2 9.277 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 9.277 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 9.277 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 9.277 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.277 * [backup-simplify]: Simplify 0.5 into 0.5 9.277 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 9.277 * [taylor]: Taking taylor expansion of phi2 in phi1 9.277 * [backup-simplify]: Simplify phi2 into phi2 9.277 * [taylor]: Taking taylor expansion of phi1 in phi1 9.277 * [backup-simplify]: Simplify 0 into 0 9.277 * [backup-simplify]: Simplify 1 into 1 9.277 * [backup-simplify]: Simplify (+ phi2 0) into phi2 9.277 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.277 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.277 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.277 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.277 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.278 * [backup-simplify]: Simplify (- 0) into 0 9.278 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.278 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.278 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 9.278 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 9.278 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 9.278 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 9.278 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.278 * [backup-simplify]: Simplify 0.5 into 0.5 9.278 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 9.278 * [taylor]: Taking taylor expansion of phi2 in phi1 9.278 * [backup-simplify]: Simplify phi2 into phi2 9.278 * [taylor]: Taking taylor expansion of phi1 in phi1 9.278 * [backup-simplify]: Simplify 0 into 0 9.278 * [backup-simplify]: Simplify 1 into 1 9.278 * [backup-simplify]: Simplify (+ phi2 0) into phi2 9.278 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.278 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.278 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.278 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.278 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.279 * [backup-simplify]: Simplify (- 0) into 0 9.279 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.279 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.279 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.279 * [backup-simplify]: Simplify lambda1 into lambda1 9.279 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.279 * [taylor]: Taking taylor expansion of phi1 in phi1 9.279 * [backup-simplify]: Simplify 0 into 0 9.279 * [backup-simplify]: Simplify 1 into 1 9.279 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 9.279 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 9.279 * [taylor]: Taking taylor expansion of 2 in phi1 9.279 * [backup-simplify]: Simplify 2 into 2 9.279 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 9.279 * [taylor]: Taking taylor expansion of phi2 in phi1 9.279 * [backup-simplify]: Simplify phi2 into phi2 9.279 * [taylor]: Taking taylor expansion of phi1 in phi1 9.279 * [backup-simplify]: Simplify 0 into 0 9.279 * [backup-simplify]: Simplify 1 into 1 9.279 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 9.279 * [taylor]: Taking taylor expansion of 2 in phi1 9.279 * [backup-simplify]: Simplify 2 into 2 9.279 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 9.279 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.279 * [backup-simplify]: Simplify lambda2 into lambda2 9.279 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 9.279 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 9.279 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 9.279 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 9.279 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.279 * [backup-simplify]: Simplify 0.5 into 0.5 9.279 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 9.279 * [taylor]: Taking taylor expansion of phi2 in phi1 9.279 * [backup-simplify]: Simplify phi2 into phi2 9.279 * [taylor]: Taking taylor expansion of phi1 in phi1 9.279 * [backup-simplify]: Simplify 0 into 0 9.279 * [backup-simplify]: Simplify 1 into 1 9.279 * [backup-simplify]: Simplify (+ phi2 0) into phi2 9.279 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.279 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.280 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.280 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.280 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.280 * [backup-simplify]: Simplify (- 0) into 0 9.280 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.280 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.280 * [backup-simplify]: Simplify lambda1 into lambda1 9.280 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.280 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.281 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 9.281 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 9.281 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 9.281 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.281 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 9.282 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 9.282 * [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))) 9.283 * [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))) 9.283 * [backup-simplify]: Simplify (* phi2 0) into 0 9.284 * [backup-simplify]: Simplify (* 2 0) into 0 9.284 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 9.284 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 9.285 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 9.285 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 9.285 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 9.286 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 9.287 * [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)))) 9.288 * [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))))) 9.288 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.289 * [backup-simplify]: Simplify (+ 0) into 0 9.289 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 9.290 * [backup-simplify]: Simplify (+ 0 1) into 1 9.290 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 9.293 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.297 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 9.297 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.297 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.298 * [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))))) 9.298 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.298 * [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))))) 9.298 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.299 * [backup-simplify]: Simplify (+ 0) into 0 9.300 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 9.300 * [backup-simplify]: Simplify (+ 0 1) into 1 9.301 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 9.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.303 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 9.304 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.304 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.304 * [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))))) 9.305 * [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))))) 9.305 * [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))))) 9.306 * [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)))))) 9.307 * [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)))))) 9.308 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 9.308 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 9.309 * [backup-simplify]: Simplify (+ 0) into 0 9.309 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 9.310 * [backup-simplify]: Simplify (+ 0 1) into 1 9.310 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 9.313 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.313 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 9.313 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.313 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.314 * [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))))) 9.314 * [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)))) 9.315 * [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))))) 9.316 * [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))))) 9.316 * [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))))) 9.317 * [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)) 9.318 * [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))))))) 9.321 * [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)))))))) 9.322 * [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 9.322 * [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 9.322 * [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 9.322 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 9.322 * [taylor]: Taking taylor expansion of phi2 in phi2 9.322 * [backup-simplify]: Simplify 0 into 0 9.322 * [backup-simplify]: Simplify 1 into 1 9.322 * [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 9.322 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 9.322 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 9.322 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.322 * [backup-simplify]: Simplify lambda2 into lambda2 9.322 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 9.322 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.322 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.322 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.322 * [backup-simplify]: Simplify 0.5 into 0.5 9.322 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.322 * [taylor]: Taking taylor expansion of phi2 in phi2 9.322 * [backup-simplify]: Simplify 0 into 0 9.322 * [backup-simplify]: Simplify 1 into 1 9.322 * [taylor]: Taking taylor expansion of phi1 in phi2 9.322 * [backup-simplify]: Simplify phi1 into phi1 9.322 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.322 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.323 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.323 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.323 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.323 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.323 * [backup-simplify]: Simplify (- 0) into 0 9.324 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.324 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2 9.324 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 9.324 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 9.324 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.324 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.324 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.324 * [backup-simplify]: Simplify 0.5 into 0.5 9.324 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.324 * [taylor]: Taking taylor expansion of phi2 in phi2 9.324 * [backup-simplify]: Simplify 0 into 0 9.324 * [backup-simplify]: Simplify 1 into 1 9.324 * [taylor]: Taking taylor expansion of phi1 in phi2 9.324 * [backup-simplify]: Simplify phi1 into phi1 9.324 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.324 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.324 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.324 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.324 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.325 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.325 * [backup-simplify]: Simplify (- 0) into 0 9.325 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.325 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 9.325 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.325 * [backup-simplify]: Simplify lambda1 into lambda1 9.325 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 9.325 * [taylor]: Taking taylor expansion of phi1 in phi2 9.325 * [backup-simplify]: Simplify phi1 into phi1 9.325 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 9.325 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 9.325 * [taylor]: Taking taylor expansion of 2 in phi2 9.325 * [backup-simplify]: Simplify 2 into 2 9.325 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 9.325 * [taylor]: Taking taylor expansion of phi2 in phi2 9.326 * [backup-simplify]: Simplify 0 into 0 9.326 * [backup-simplify]: Simplify 1 into 1 9.326 * [taylor]: Taking taylor expansion of phi1 in phi2 9.326 * [backup-simplify]: Simplify phi1 into phi1 9.326 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 9.326 * [taylor]: Taking taylor expansion of 2 in phi2 9.326 * [backup-simplify]: Simplify 2 into 2 9.326 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 9.326 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.326 * [backup-simplify]: Simplify lambda2 into lambda2 9.326 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 9.326 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 9.326 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.326 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.326 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.326 * [backup-simplify]: Simplify 0.5 into 0.5 9.326 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.326 * [taylor]: Taking taylor expansion of phi2 in phi2 9.326 * [backup-simplify]: Simplify 0 into 0 9.326 * [backup-simplify]: Simplify 1 into 1 9.326 * [taylor]: Taking taylor expansion of phi1 in phi2 9.326 * [backup-simplify]: Simplify phi1 into phi1 9.326 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.326 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.326 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.326 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.326 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.327 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.327 * [backup-simplify]: Simplify (- 0) into 0 9.327 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.327 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.327 * [backup-simplify]: Simplify lambda1 into lambda1 9.327 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.327 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 9.328 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 9.328 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 9.328 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.328 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 9.328 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.329 * [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)) 9.330 * [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))) 9.331 * [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))) 9.331 * [backup-simplify]: Simplify (* 0 phi1) into 0 9.331 * [backup-simplify]: Simplify (* 2 0) into 0 9.332 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 9.332 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 9.332 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 9.332 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 9.333 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 9.333 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 9.335 * [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)))) 9.336 * [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))))) 9.337 * [backup-simplify]: Simplify (+ 0) into 0 9.337 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.338 * [backup-simplify]: Simplify (+ 1 0) into 1 9.338 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.341 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.341 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.341 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.342 * [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))))) 9.342 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.343 * [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))))) 9.343 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.343 * [backup-simplify]: Simplify (+ 0) into 0 9.344 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.344 * [backup-simplify]: Simplify (+ 1 0) into 1 9.345 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.348 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.348 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.348 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.348 * [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))))) 9.349 * [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))))) 9.349 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.350 * [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))))) 9.351 * [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)))))) 9.352 * [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)))))) 9.353 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 9.353 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 9.354 * [backup-simplify]: Simplify (+ 0) into 0 9.354 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.355 * [backup-simplify]: Simplify (+ 1 0) into 1 9.355 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.358 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.359 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.359 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.359 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.359 * [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))))) 9.360 * [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)))) 9.361 * [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))))) 9.361 * [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))))) 9.362 * [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))))) 9.362 * [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)) 9.364 * [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)))) 9.367 * [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)))))))) 9.367 * [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 9.367 * [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 9.367 * [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 9.367 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 9.367 * [taylor]: Taking taylor expansion of phi2 in phi2 9.367 * [backup-simplify]: Simplify 0 into 0 9.367 * [backup-simplify]: Simplify 1 into 1 9.367 * [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 9.367 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 9.367 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 9.367 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.367 * [backup-simplify]: Simplify lambda2 into lambda2 9.367 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 9.367 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.367 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.367 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.367 * [backup-simplify]: Simplify 0.5 into 0.5 9.367 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.367 * [taylor]: Taking taylor expansion of phi2 in phi2 9.367 * [backup-simplify]: Simplify 0 into 0 9.367 * [backup-simplify]: Simplify 1 into 1 9.367 * [taylor]: Taking taylor expansion of phi1 in phi2 9.367 * [backup-simplify]: Simplify phi1 into phi1 9.368 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.368 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.368 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.368 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.368 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.368 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.368 * [backup-simplify]: Simplify (- 0) into 0 9.369 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.369 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2 9.369 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 9.369 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 9.369 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.369 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.369 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.369 * [backup-simplify]: Simplify 0.5 into 0.5 9.369 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.369 * [taylor]: Taking taylor expansion of phi2 in phi2 9.369 * [backup-simplify]: Simplify 0 into 0 9.369 * [backup-simplify]: Simplify 1 into 1 9.369 * [taylor]: Taking taylor expansion of phi1 in phi2 9.369 * [backup-simplify]: Simplify phi1 into phi1 9.369 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.369 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.369 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.369 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.369 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.369 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.370 * [backup-simplify]: Simplify (- 0) into 0 9.370 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.370 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 9.370 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.370 * [backup-simplify]: Simplify lambda1 into lambda1 9.370 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 9.370 * [taylor]: Taking taylor expansion of phi1 in phi2 9.370 * [backup-simplify]: Simplify phi1 into phi1 9.370 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 9.370 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 9.370 * [taylor]: Taking taylor expansion of 2 in phi2 9.370 * [backup-simplify]: Simplify 2 into 2 9.370 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 9.370 * [taylor]: Taking taylor expansion of phi2 in phi2 9.370 * [backup-simplify]: Simplify 0 into 0 9.370 * [backup-simplify]: Simplify 1 into 1 9.370 * [taylor]: Taking taylor expansion of phi1 in phi2 9.370 * [backup-simplify]: Simplify phi1 into phi1 9.370 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 9.370 * [taylor]: Taking taylor expansion of 2 in phi2 9.370 * [backup-simplify]: Simplify 2 into 2 9.371 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 9.371 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.371 * [backup-simplify]: Simplify lambda2 into lambda2 9.371 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 9.371 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 9.371 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.371 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.371 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.371 * [backup-simplify]: Simplify 0.5 into 0.5 9.371 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.371 * [taylor]: Taking taylor expansion of phi2 in phi2 9.371 * [backup-simplify]: Simplify 0 into 0 9.371 * [backup-simplify]: Simplify 1 into 1 9.371 * [taylor]: Taking taylor expansion of phi1 in phi2 9.371 * [backup-simplify]: Simplify phi1 into phi1 9.371 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.371 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.371 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.371 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.371 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.371 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.372 * [backup-simplify]: Simplify (- 0) into 0 9.372 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.372 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.372 * [backup-simplify]: Simplify lambda1 into lambda1 9.372 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.372 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 9.372 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 9.373 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 9.373 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.373 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 9.373 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.373 * [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)) 9.374 * [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))) 9.375 * [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))) 9.375 * [backup-simplify]: Simplify (* 0 phi1) into 0 9.376 * [backup-simplify]: Simplify (* 2 0) into 0 9.376 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 9.376 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 9.376 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 9.376 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 9.377 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 9.377 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 9.378 * [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)))) 9.380 * [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))))) 9.380 * [backup-simplify]: Simplify (+ 0) into 0 9.381 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.381 * [backup-simplify]: Simplify (+ 1 0) into 1 9.382 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.384 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.384 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.385 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.385 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.385 * [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))))) 9.385 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.386 * [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))))) 9.386 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.386 * [backup-simplify]: Simplify (+ 0) into 0 9.387 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.387 * [backup-simplify]: Simplify (+ 1 0) into 1 9.388 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.390 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.391 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.391 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.391 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.391 * [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))))) 9.392 * [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))))) 9.392 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.392 * [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))))) 9.393 * [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)))))) 9.395 * [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)))))) 9.395 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 9.396 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 9.396 * [backup-simplify]: Simplify (+ 0) into 0 9.397 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.397 * [backup-simplify]: Simplify (+ 1 0) into 1 9.398 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.400 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.400 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.401 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.401 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.401 * [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))))) 9.402 * [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)))) 9.402 * [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))))) 9.403 * [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))))) 9.403 * [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))))) 9.404 * [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)) 9.405 * [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)))) 9.408 * [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)))))))) 9.408 * [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 9.408 * [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 9.408 * [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 9.408 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.408 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.408 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.408 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.408 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.408 * [backup-simplify]: Simplify 0.5 into 0.5 9.408 * [taylor]: Taking taylor expansion of phi1 in phi1 9.408 * [backup-simplify]: Simplify 0 into 0 9.408 * [backup-simplify]: Simplify 1 into 1 9.409 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.410 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.411 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.411 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.411 * [backup-simplify]: Simplify lambda2 into lambda2 9.411 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.411 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.411 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.411 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.411 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.411 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.411 * [backup-simplify]: Simplify 0.5 into 0.5 9.411 * [taylor]: Taking taylor expansion of phi1 in phi1 9.411 * [backup-simplify]: Simplify 0 into 0 9.411 * [backup-simplify]: Simplify 1 into 1 9.411 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.413 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.413 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.413 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.413 * [backup-simplify]: Simplify lambda1 into lambda1 9.413 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.413 * [taylor]: Taking taylor expansion of phi1 in phi1 9.413 * [backup-simplify]: Simplify 0 into 0 9.413 * [backup-simplify]: Simplify 1 into 1 9.413 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.413 * [taylor]: Taking taylor expansion of 2 in phi1 9.413 * [backup-simplify]: Simplify 2 into 2 9.413 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.413 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.413 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.413 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.413 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.413 * [backup-simplify]: Simplify 0.5 into 0.5 9.413 * [taylor]: Taking taylor expansion of phi1 in phi1 9.413 * [backup-simplify]: Simplify 0 into 0 9.413 * [backup-simplify]: Simplify 1 into 1 9.414 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.415 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.415 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.415 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.415 * [backup-simplify]: Simplify lambda2 into lambda2 9.415 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.415 * [backup-simplify]: Simplify lambda1 into lambda1 9.416 * [backup-simplify]: Simplify (* 1 1) into 1 9.416 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.416 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.416 * [backup-simplify]: Simplify (* 1 1) into 1 9.416 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.416 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.417 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 9.417 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 9.417 * [backup-simplify]: Simplify (* 1 1) into 1 9.417 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.417 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.417 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 9.418 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 9.418 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 9.418 * [backup-simplify]: Simplify (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 9.418 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.419 * [backup-simplify]: Simplify (+ 0) into 0 9.419 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.420 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 9.420 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.420 * [backup-simplify]: Simplify (+ 0) into 0 9.421 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.422 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 9.422 * [backup-simplify]: Simplify (+ 0 0) into 0 9.422 * [backup-simplify]: Simplify (+ 0 0) into 0 9.422 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 9.423 * [backup-simplify]: Simplify (+ 0) into 0 9.423 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.424 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 9.424 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 9.425 * [backup-simplify]: Simplify (- 0) into 0 9.425 * [backup-simplify]: Simplify (+ 0 0) into 0 9.426 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) into 0 9.426 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 9.426 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 9.426 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 9.426 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.426 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.426 * [backup-simplify]: Simplify 0 into 0 9.426 * [backup-simplify]: Simplify 1 into 1 9.426 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.426 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.426 * [backup-simplify]: Simplify lambda2 into lambda2 9.426 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 9.426 * [taylor]: Taking taylor expansion of 2 in lambda1 9.426 * [backup-simplify]: Simplify 2 into 2 9.426 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.426 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.426 * [backup-simplify]: Simplify lambda2 into lambda2 9.426 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.426 * [backup-simplify]: Simplify 0 into 0 9.426 * [backup-simplify]: Simplify 1 into 1 9.426 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.427 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 9.427 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.427 * [backup-simplify]: Simplify (* 2 0) into 0 9.427 * [backup-simplify]: Simplify (- 0) into 0 9.428 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 9.428 * [backup-simplify]: Simplify (sqrt (pow lambda2 2)) into lambda2 9.428 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.428 * [backup-simplify]: Simplify (+ 0 0) into 0 9.429 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 9.429 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 9.429 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 9.429 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 9.429 * [backup-simplify]: Simplify (/ (- (* 2 lambda2)) (* 2 (sqrt (pow lambda2 2)))) into -1 9.429 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.430 * [backup-simplify]: Simplify 0 into 0 9.430 * [backup-simplify]: Simplify 1 into 1 9.430 * [backup-simplify]: Simplify 0 into 0 9.430 * [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 9.430 * [taylor]: Taking taylor expansion of 1/2 in phi1 9.430 * [backup-simplify]: Simplify 1/2 into 1/2 9.430 * [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 9.430 * [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 9.430 * [taylor]: Taking taylor expansion of (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) in phi1 9.430 * [taylor]: Taking taylor expansion of 2.0 in phi1 9.430 * [backup-simplify]: Simplify 2.0 into 2.0 9.430 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))) in phi1 9.430 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.430 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.430 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.430 * [backup-simplify]: Simplify 0.5 into 0.5 9.430 * [taylor]: Taking taylor expansion of phi1 in phi1 9.430 * [backup-simplify]: Simplify 0 into 0 9.430 * [backup-simplify]: Simplify 1 into 1 9.431 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.432 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.432 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 lambda1)) in phi1 9.432 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.432 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.432 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.432 * [backup-simplify]: Simplify 0.5 into 0.5 9.432 * [taylor]: Taking taylor expansion of phi1 in phi1 9.432 * [backup-simplify]: Simplify 0 into 0 9.432 * [backup-simplify]: Simplify 1 into 1 9.433 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.434 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.434 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.434 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.434 * [backup-simplify]: Simplify lambda2 into lambda2 9.434 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.434 * [backup-simplify]: Simplify lambda1 into lambda1 9.434 * [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 9.434 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 9.434 * [taylor]: Taking taylor expansion of 1.0 in phi1 9.434 * [backup-simplify]: Simplify 1.0 into 1.0 9.434 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 9.434 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.434 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.434 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.434 * [backup-simplify]: Simplify 0.5 into 0.5 9.434 * [taylor]: Taking taylor expansion of phi1 in phi1 9.434 * [backup-simplify]: Simplify 0 into 0 9.434 * [backup-simplify]: Simplify 1 into 1 9.435 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.436 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.436 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 9.436 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.436 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.436 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.436 * [backup-simplify]: Simplify 0.5 into 0.5 9.436 * [taylor]: Taking taylor expansion of phi1 in phi1 9.436 * [backup-simplify]: Simplify 0 into 0 9.437 * [backup-simplify]: Simplify 1 into 1 9.437 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.438 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.438 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.438 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.438 * [backup-simplify]: Simplify lambda1 into lambda1 9.438 * [taylor]: Taking taylor expansion of (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) in phi1 9.438 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 9.439 * [taylor]: Taking taylor expansion of 1.0 in phi1 9.439 * [backup-simplify]: Simplify 1.0 into 1.0 9.439 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 9.439 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.439 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.439 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.439 * [backup-simplify]: Simplify 0.5 into 0.5 9.439 * [taylor]: Taking taylor expansion of phi1 in phi1 9.439 * [backup-simplify]: Simplify 0 into 0 9.439 * [backup-simplify]: Simplify 1 into 1 9.439 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.440 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.441 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 9.441 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.441 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.441 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.441 * [backup-simplify]: Simplify 0.5 into 0.5 9.441 * [taylor]: Taking taylor expansion of phi1 in phi1 9.441 * [backup-simplify]: Simplify 0 into 0 9.441 * [backup-simplify]: Simplify 1 into 1 9.441 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.442 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.443 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.443 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.443 * [backup-simplify]: Simplify lambda2 into lambda2 9.443 * [taylor]: Taking taylor expansion of (* 2 phi1) in phi1 9.443 * [taylor]: Taking taylor expansion of 2 in phi1 9.443 * [backup-simplify]: Simplify 2 into 2 9.443 * [taylor]: Taking taylor expansion of phi1 in phi1 9.443 * [backup-simplify]: Simplify 0 into 0 9.443 * [backup-simplify]: Simplify 1 into 1 9.443 * [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 9.443 * [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 9.443 * [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 9.443 * [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 9.443 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.443 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.443 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.443 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.443 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.443 * [backup-simplify]: Simplify 0.5 into 0.5 9.443 * [taylor]: Taking taylor expansion of phi1 in phi1 9.443 * [backup-simplify]: Simplify 0 into 0 9.443 * [backup-simplify]: Simplify 1 into 1 9.444 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.446 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.446 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.446 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.446 * [backup-simplify]: Simplify lambda2 into lambda2 9.446 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.446 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.446 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.446 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.446 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.446 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.446 * [backup-simplify]: Simplify 0.5 into 0.5 9.446 * [taylor]: Taking taylor expansion of phi1 in phi1 9.446 * [backup-simplify]: Simplify 0 into 0 9.446 * [backup-simplify]: Simplify 1 into 1 9.447 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.448 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.448 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.448 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.448 * [backup-simplify]: Simplify lambda1 into lambda1 9.448 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.448 * [taylor]: Taking taylor expansion of phi1 in phi1 9.448 * [backup-simplify]: Simplify 0 into 0 9.448 * [backup-simplify]: Simplify 1 into 1 9.448 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.448 * [taylor]: Taking taylor expansion of 2 in phi1 9.448 * [backup-simplify]: Simplify 2 into 2 9.448 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.449 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.449 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.449 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.449 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.449 * [backup-simplify]: Simplify 0.5 into 0.5 9.449 * [taylor]: Taking taylor expansion of phi1 in phi1 9.449 * [backup-simplify]: Simplify 0 into 0 9.449 * [backup-simplify]: Simplify 1 into 1 9.449 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.451 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.451 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.451 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.451 * [backup-simplify]: Simplify lambda2 into lambda2 9.451 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.451 * [backup-simplify]: Simplify lambda1 into lambda1 9.452 * [backup-simplify]: Simplify (* 1 1) into 1 9.452 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.452 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.452 * [backup-simplify]: Simplify (* 1 1) into 1 9.452 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.453 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.453 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 9.453 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 9.453 * [backup-simplify]: Simplify (* 1 1) into 1 9.454 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.454 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.454 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 9.454 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 9.454 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 9.455 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 9.455 * [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))))) 9.455 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.456 * [backup-simplify]: Simplify (+ 0) into 0 9.456 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.457 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 9.457 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.457 * [backup-simplify]: Simplify (+ 0) into 0 9.458 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.462 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 9.463 * [backup-simplify]: Simplify (+ 0 0) into 0 9.463 * [backup-simplify]: Simplify (+ 0 0) into 0 9.464 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 9.464 * [backup-simplify]: Simplify (+ 0) into 0 9.465 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.465 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 9.466 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 9.466 * [backup-simplify]: Simplify (- 0) into 0 9.466 * [backup-simplify]: Simplify (+ 0 0) into 0 9.467 * [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 9.468 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into 0 9.468 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.468 * [backup-simplify]: Simplify (* 0 (* lambda2 lambda1)) into 0 9.468 * [backup-simplify]: Simplify (* 1 0) into 0 9.469 * [backup-simplify]: Simplify (* 2.0 0) into 0 9.469 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.469 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 9.469 * [backup-simplify]: Simplify (* 1 0) into 0 9.470 * [backup-simplify]: Simplify (* 1.0 0) into 0 9.470 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.470 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 9.471 * [backup-simplify]: Simplify (* 1 0) into 0 9.471 * [backup-simplify]: Simplify (* 1.0 0) into 0 9.471 * [backup-simplify]: Simplify (* 2 0) into 0 9.472 * [backup-simplify]: Simplify (+ 0 0) into 0 9.472 * [backup-simplify]: Simplify (+ 0 0) into 0 9.472 * [backup-simplify]: Simplify (- 0) into 0 9.473 * [backup-simplify]: Simplify (+ 0 0) into 0 9.473 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) into 0 9.474 * [backup-simplify]: Simplify (* 1/2 0) into 0 9.474 * [taylor]: Taking taylor expansion of 0 in lambda1 9.474 * [backup-simplify]: Simplify 0 into 0 9.474 * [taylor]: Taking taylor expansion of 0 in lambda2 9.474 * [backup-simplify]: Simplify 0 into 0 9.474 * [backup-simplify]: Simplify 0 into 0 9.474 * [taylor]: Taking taylor expansion of 0 in lambda1 9.474 * [backup-simplify]: Simplify 0 into 0 9.474 * [taylor]: Taking taylor expansion of 0 in lambda2 9.474 * [backup-simplify]: Simplify 0 into 0 9.474 * [backup-simplify]: Simplify 0 into 0 9.474 * [taylor]: Taking taylor expansion of -1 in lambda2 9.474 * [backup-simplify]: Simplify -1 into -1 9.474 * [backup-simplify]: Simplify -1 into -1 9.474 * [backup-simplify]: Simplify 1 into 1 9.475 * [backup-simplify]: Simplify (* 1 1) into 1 9.477 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 9.479 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 9.479 * [backup-simplify]: Simplify (+ 0 0) into 0 9.480 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 9.481 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.481 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 9.482 * [backup-simplify]: Simplify (- 0) into 0 9.482 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 9.483 * [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))) 9.483 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 9.484 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2)))) (+ (* 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2)))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) 9.485 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 9.487 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 9.488 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 9.489 * [backup-simplify]: Simplify (+ 0 0) into 0 9.489 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 9.490 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.491 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 9.491 * [backup-simplify]: Simplify (- 0) into 0 9.491 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 9.492 * [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))) 9.493 * [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)))) 9.493 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 9.493 * [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) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 9.494 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (* 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 (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))))) 9.495 * [backup-simplify]: Simplify (+ 1 (- (+ (* 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)))))) 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))))) 9.496 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 9.496 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi1) (* 0 0))) into 0 9.498 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 9.499 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 9.499 * [backup-simplify]: Simplify (+ 0 0) into 0 9.500 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 9.500 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.500 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 9.501 * [backup-simplify]: Simplify (- 0) into 0 9.501 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 9.501 * [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))) 9.502 * [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))) 9.502 * [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)))) 9.503 * [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)))) 9.504 * [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)))) 9.504 * [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)))) 9.506 * [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)))))) 9.511 * [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)))))))))))))))) 9.512 * [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 9.512 * [taylor]: Taking taylor expansion of 1/2 in phi1 9.512 * [backup-simplify]: Simplify 1/2 into 1/2 9.512 * [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 9.512 * [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 9.512 * [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 9.512 * [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 9.512 * [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 9.512 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.512 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.512 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.512 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.512 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.512 * [backup-simplify]: Simplify 0.5 into 0.5 9.512 * [taylor]: Taking taylor expansion of phi1 in phi1 9.512 * [backup-simplify]: Simplify 0 into 0 9.512 * [backup-simplify]: Simplify 1 into 1 9.512 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.513 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.513 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.513 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.513 * [backup-simplify]: Simplify lambda2 into lambda2 9.513 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.513 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.513 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.513 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.513 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.513 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.514 * [backup-simplify]: Simplify 0.5 into 0.5 9.514 * [taylor]: Taking taylor expansion of phi1 in phi1 9.514 * [backup-simplify]: Simplify 0 into 0 9.514 * [backup-simplify]: Simplify 1 into 1 9.514 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.515 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.515 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.515 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.515 * [backup-simplify]: Simplify lambda1 into lambda1 9.515 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.515 * [taylor]: Taking taylor expansion of phi1 in phi1 9.515 * [backup-simplify]: Simplify 0 into 0 9.515 * [backup-simplify]: Simplify 1 into 1 9.515 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.515 * [taylor]: Taking taylor expansion of 2 in phi1 9.515 * [backup-simplify]: Simplify 2 into 2 9.515 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.515 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.515 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.515 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.515 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.515 * [backup-simplify]: Simplify 0.5 into 0.5 9.515 * [taylor]: Taking taylor expansion of phi1 in phi1 9.515 * [backup-simplify]: Simplify 0 into 0 9.515 * [backup-simplify]: Simplify 1 into 1 9.515 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.517 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.517 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.517 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.517 * [backup-simplify]: Simplify lambda2 into lambda2 9.517 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.517 * [backup-simplify]: Simplify lambda1 into lambda1 9.517 * [backup-simplify]: Simplify (* 1 1) into 1 9.517 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.517 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.518 * [backup-simplify]: Simplify (* 1 1) into 1 9.518 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.518 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.518 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 9.518 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 9.519 * [backup-simplify]: Simplify (* 1 1) into 1 9.519 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.519 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.519 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 9.519 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 9.520 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 9.520 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 9.520 * [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))))) 9.521 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.521 * [backup-simplify]: Simplify (+ 0) into 0 9.522 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.522 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 9.522 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.523 * [backup-simplify]: Simplify (+ 0) into 0 9.523 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.524 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 9.524 * [backup-simplify]: Simplify (+ 0 0) into 0 9.525 * [backup-simplify]: Simplify (+ 0 0) into 0 9.525 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 9.525 * [backup-simplify]: Simplify (+ 0) into 0 9.526 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.527 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 9.527 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 9.528 * [backup-simplify]: Simplify (- 0) into 0 9.528 * [backup-simplify]: Simplify (+ 0 0) into 0 9.529 * [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 9.529 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into 0 9.529 * [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 9.530 * [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 9.530 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 9.530 * [taylor]: Taking taylor expansion of 0.25 in phi1 9.530 * [backup-simplify]: Simplify 0.25 into 0.25 9.530 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.530 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 9.530 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.530 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.530 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.530 * [backup-simplify]: Simplify 0.5 into 0.5 9.530 * [taylor]: Taking taylor expansion of phi1 in phi1 9.530 * [backup-simplify]: Simplify 0 into 0 9.530 * [backup-simplify]: Simplify 1 into 1 9.531 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.532 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.535 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.535 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.535 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.535 * [backup-simplify]: Simplify lambda2 into lambda2 9.535 * [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 9.535 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.535 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.535 * [backup-simplify]: Simplify 0.5 into 0.5 9.535 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.535 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.535 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.535 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.535 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.535 * [backup-simplify]: Simplify 0.5 into 0.5 9.535 * [taylor]: Taking taylor expansion of phi1 in phi1 9.535 * [backup-simplify]: Simplify 0 into 0 9.535 * [backup-simplify]: Simplify 1 into 1 9.536 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.537 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.537 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.537 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.537 * [backup-simplify]: Simplify lambda2 into lambda2 9.537 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.537 * [backup-simplify]: Simplify lambda1 into lambda1 9.537 * [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 9.538 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 9.538 * [taylor]: Taking taylor expansion of 0.25 in phi1 9.538 * [backup-simplify]: Simplify 0.25 into 0.25 9.538 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.538 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 9.538 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.538 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.538 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.538 * [backup-simplify]: Simplify 0.5 into 0.5 9.538 * [taylor]: Taking taylor expansion of phi1 in phi1 9.538 * [backup-simplify]: Simplify 0 into 0 9.538 * [backup-simplify]: Simplify 1 into 1 9.538 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.540 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.542 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.542 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.542 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.542 * [backup-simplify]: Simplify lambda1 into lambda1 9.542 * [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 9.542 * [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 9.542 * [taylor]: Taking taylor expansion of 1.0 in phi1 9.542 * [backup-simplify]: Simplify 1.0 into 1.0 9.543 * [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 9.543 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) in phi1 9.543 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.543 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.543 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.543 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.543 * [backup-simplify]: Simplify 0.5 into 0.5 9.543 * [taylor]: Taking taylor expansion of phi1 in phi1 9.543 * [backup-simplify]: Simplify 0 into 0 9.543 * [backup-simplify]: Simplify 1 into 1 9.543 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.545 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.545 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1)) in phi1 9.545 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 9.545 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.545 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.545 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.545 * [backup-simplify]: Simplify 0.5 into 0.5 9.545 * [taylor]: Taking taylor expansion of phi1 in phi1 9.545 * [backup-simplify]: Simplify 0 into 0 9.545 * [backup-simplify]: Simplify 1 into 1 9.545 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.547 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.549 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.549 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) lambda1) in phi1 9.549 * [taylor]: Taking taylor expansion of (pow lambda2 3) in phi1 9.549 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.549 * [backup-simplify]: Simplify lambda2 into lambda2 9.549 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.550 * [backup-simplify]: Simplify lambda1 into lambda1 9.550 * [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 9.550 * [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 9.550 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.550 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.550 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.550 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.550 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.550 * [backup-simplify]: Simplify 0.5 into 0.5 9.550 * [taylor]: Taking taylor expansion of phi1 in phi1 9.550 * [backup-simplify]: Simplify 0 into 0 9.550 * [backup-simplify]: Simplify 1 into 1 9.550 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.552 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.552 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.552 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.552 * [backup-simplify]: Simplify lambda2 into lambda2 9.552 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.552 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.552 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.552 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.552 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.552 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.552 * [backup-simplify]: Simplify 0.5 into 0.5 9.552 * [taylor]: Taking taylor expansion of phi1 in phi1 9.552 * [backup-simplify]: Simplify 0 into 0 9.552 * [backup-simplify]: Simplify 1 into 1 9.553 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.554 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.554 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.554 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.554 * [backup-simplify]: Simplify lambda1 into lambda1 9.554 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.554 * [taylor]: Taking taylor expansion of phi1 in phi1 9.554 * [backup-simplify]: Simplify 0 into 0 9.554 * [backup-simplify]: Simplify 1 into 1 9.554 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.554 * [taylor]: Taking taylor expansion of 2 in phi1 9.554 * [backup-simplify]: Simplify 2 into 2 9.554 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.554 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.554 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.554 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.555 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.555 * [backup-simplify]: Simplify 0.5 into 0.5 9.555 * [taylor]: Taking taylor expansion of phi1 in phi1 9.555 * [backup-simplify]: Simplify 0 into 0 9.555 * [backup-simplify]: Simplify 1 into 1 9.555 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.557 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.557 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.557 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.557 * [backup-simplify]: Simplify lambda2 into lambda2 9.557 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.557 * [backup-simplify]: Simplify lambda1 into lambda1 9.557 * [backup-simplify]: Simplify (* 1 1) into 1 9.558 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 9.558 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.558 * [backup-simplify]: Simplify (* lambda2 (pow lambda2 2)) into (pow lambda2 3) 9.558 * [backup-simplify]: Simplify (* (pow lambda2 3) lambda1) into (* (pow lambda2 3) lambda1) 9.558 * [backup-simplify]: Simplify (* 0.25 (* (pow lambda2 3) lambda1)) into (* 0.25 (* (pow lambda2 3) lambda1)) 9.558 * [backup-simplify]: Simplify (* 1 (* 0.25 (* (pow lambda2 3) lambda1))) into (* 0.25 (* (pow lambda2 3) lambda1)) 9.559 * [backup-simplify]: Simplify (* 1 1) into 1 9.559 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.559 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.560 * [backup-simplify]: Simplify (* 1 1) into 1 9.560 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.560 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.560 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 9.560 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 9.561 * [backup-simplify]: Simplify (* 1 1) into 1 9.561 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.561 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.561 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 9.561 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 9.562 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 9.562 * [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))))) 9.562 * [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 9.562 * [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 9.562 * [taylor]: Taking taylor expansion of 2.0 in phi1 9.562 * [backup-simplify]: Simplify 2.0 into 2.0 9.563 * [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 9.563 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) in phi1 9.563 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.563 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.563 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.563 * [backup-simplify]: Simplify 0.5 into 0.5 9.563 * [taylor]: Taking taylor expansion of phi1 in phi1 9.563 * [backup-simplify]: Simplify 0 into 0 9.563 * [backup-simplify]: Simplify 1 into 1 9.563 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.565 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.565 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1))) in phi1 9.565 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.565 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.565 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.565 * [backup-simplify]: Simplify 0.5 into 0.5 9.565 * [taylor]: Taking taylor expansion of phi1 in phi1 9.565 * [backup-simplify]: Simplify 0 into 0 9.565 * [backup-simplify]: Simplify 1 into 1 9.565 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.567 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.567 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 phi1)) in phi1 9.567 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.567 * [backup-simplify]: Simplify lambda2 into lambda2 9.567 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 9.567 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.567 * [backup-simplify]: Simplify lambda1 into lambda1 9.567 * [taylor]: Taking taylor expansion of phi1 in phi1 9.567 * [backup-simplify]: Simplify 0 into 0 9.567 * [backup-simplify]: Simplify 1 into 1 9.567 * [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 9.567 * [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 9.567 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.567 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.567 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.567 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.567 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.567 * [backup-simplify]: Simplify 0.5 into 0.5 9.567 * [taylor]: Taking taylor expansion of phi1 in phi1 9.567 * [backup-simplify]: Simplify 0 into 0 9.567 * [backup-simplify]: Simplify 1 into 1 9.568 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.569 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.569 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.569 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.569 * [backup-simplify]: Simplify lambda2 into lambda2 9.569 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.569 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.569 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.570 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.570 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.570 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.570 * [backup-simplify]: Simplify 0.5 into 0.5 9.570 * [taylor]: Taking taylor expansion of phi1 in phi1 9.570 * [backup-simplify]: Simplify 0 into 0 9.570 * [backup-simplify]: Simplify 1 into 1 9.570 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.572 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.572 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.572 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.572 * [backup-simplify]: Simplify lambda1 into lambda1 9.572 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.572 * [taylor]: Taking taylor expansion of phi1 in phi1 9.572 * [backup-simplify]: Simplify 0 into 0 9.572 * [backup-simplify]: Simplify 1 into 1 9.572 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.572 * [taylor]: Taking taylor expansion of 2 in phi1 9.572 * [backup-simplify]: Simplify 2 into 2 9.572 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.572 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.572 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.572 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.572 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.572 * [backup-simplify]: Simplify 0.5 into 0.5 9.572 * [taylor]: Taking taylor expansion of phi1 in phi1 9.572 * [backup-simplify]: Simplify 0 into 0 9.572 * [backup-simplify]: Simplify 1 into 1 9.573 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.574 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.574 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.574 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.574 * [backup-simplify]: Simplify lambda2 into lambda2 9.574 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.574 * [backup-simplify]: Simplify lambda1 into lambda1 9.574 * [backup-simplify]: Simplify (* lambda1 0) into 0 9.574 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.575 * [backup-simplify]: Simplify (* 0 0) into 0 9.575 * [backup-simplify]: Simplify (* 1 0) into 0 9.575 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 9.576 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 9.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.578 * [backup-simplify]: Simplify (+ (* 0 (* lambda2 lambda1)) (* 0.5 0)) into 0 9.578 * [backup-simplify]: Simplify (+ 0) into 0 9.578 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 9.579 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 1) (* 0 0))) into 0 9.579 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 lambda1) (* 0 0))) into 0 9.579 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 9.580 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.580 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (* lambda2 lambda1)) (* 0 0))) into (* 0.5 (* lambda2 lambda1)) 9.582 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 9.583 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (* lambda2 lambda1)) 9.583 * [backup-simplify]: Simplify (* 1 1) into 1 9.583 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.583 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.583 * [backup-simplify]: Simplify (* 1 1) into 1 9.583 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.583 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.584 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 9.584 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 9.584 * [backup-simplify]: Simplify (* 1 1) into 1 9.584 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.584 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.584 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 9.584 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 9.584 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 9.585 * [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))))) 9.585 * [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 9.585 * [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 9.585 * [taylor]: Taking taylor expansion of 1.0 in phi1 9.585 * [backup-simplify]: Simplify 1.0 into 1.0 9.585 * [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 9.585 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) in phi1 9.585 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.585 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.585 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.585 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.585 * [backup-simplify]: Simplify 0.5 into 0.5 9.585 * [taylor]: Taking taylor expansion of phi1 in phi1 9.585 * [backup-simplify]: Simplify 0 into 0 9.585 * [backup-simplify]: Simplify 1 into 1 9.585 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.589 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.589 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3))) in phi1 9.589 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 9.589 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.589 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.589 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.589 * [backup-simplify]: Simplify 0.5 into 0.5 9.589 * [taylor]: Taking taylor expansion of phi1 in phi1 9.589 * [backup-simplify]: Simplify 0 into 0 9.590 * [backup-simplify]: Simplify 1 into 1 9.590 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.591 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.592 * [taylor]: Taking taylor expansion of (* lambda2 (pow lambda1 3)) in phi1 9.592 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.592 * [backup-simplify]: Simplify lambda2 into lambda2 9.592 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi1 9.592 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.592 * [backup-simplify]: Simplify lambda1 into lambda1 9.592 * [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 9.592 * [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 9.592 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.592 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.592 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.592 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.592 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.592 * [backup-simplify]: Simplify 0.5 into 0.5 9.592 * [taylor]: Taking taylor expansion of phi1 in phi1 9.592 * [backup-simplify]: Simplify 0 into 0 9.592 * [backup-simplify]: Simplify 1 into 1 9.593 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.594 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.594 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.594 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.594 * [backup-simplify]: Simplify lambda2 into lambda2 9.594 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.594 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.594 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.594 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.594 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.594 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.594 * [backup-simplify]: Simplify 0.5 into 0.5 9.594 * [taylor]: Taking taylor expansion of phi1 in phi1 9.594 * [backup-simplify]: Simplify 0 into 0 9.594 * [backup-simplify]: Simplify 1 into 1 9.594 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.595 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.595 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.595 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.595 * [backup-simplify]: Simplify lambda1 into lambda1 9.595 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.595 * [taylor]: Taking taylor expansion of phi1 in phi1 9.595 * [backup-simplify]: Simplify 0 into 0 9.595 * [backup-simplify]: Simplify 1 into 1 9.595 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.595 * [taylor]: Taking taylor expansion of 2 in phi1 9.595 * [backup-simplify]: Simplify 2 into 2 9.595 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.595 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.595 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.595 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.595 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.595 * [backup-simplify]: Simplify 0.5 into 0.5 9.595 * [taylor]: Taking taylor expansion of phi1 in phi1 9.595 * [backup-simplify]: Simplify 0 into 0 9.595 * [backup-simplify]: Simplify 1 into 1 9.596 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.596 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.596 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.596 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.596 * [backup-simplify]: Simplify lambda2 into lambda2 9.597 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.597 * [backup-simplify]: Simplify lambda1 into lambda1 9.597 * [backup-simplify]: Simplify (* 1 1) into 1 9.597 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 9.597 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.597 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3) 9.597 * [backup-simplify]: Simplify (* lambda2 (pow lambda1 3)) into (* lambda2 (pow lambda1 3)) 9.597 * [backup-simplify]: Simplify (* 0.25 (* lambda2 (pow lambda1 3))) into (* 0.25 (* lambda2 (pow lambda1 3))) 9.598 * [backup-simplify]: Simplify (* 1 (* 0.25 (* lambda2 (pow lambda1 3)))) into (* 0.25 (* lambda2 (pow lambda1 3))) 9.598 * [backup-simplify]: Simplify (* 1 1) into 1 9.598 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.598 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.598 * [backup-simplify]: Simplify (* 1 1) into 1 9.598 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.598 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.599 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 9.599 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 9.599 * [backup-simplify]: Simplify (* 1 1) into 1 9.599 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.599 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.599 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 9.599 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 9.599 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 9.600 * [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))))) 9.600 * [taylor]: Taking taylor expansion of 1 in phi1 9.600 * [backup-simplify]: Simplify 1 into 1 9.600 * [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 9.600 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 9.600 * [taylor]: Taking taylor expansion of 0.25 in phi1 9.600 * [backup-simplify]: Simplify 0.25 into 0.25 9.600 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.600 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.600 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.600 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.600 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.600 * [backup-simplify]: Simplify 0.5 into 0.5 9.600 * [taylor]: Taking taylor expansion of phi1 in phi1 9.600 * [backup-simplify]: Simplify 0 into 0 9.600 * [backup-simplify]: Simplify 1 into 1 9.600 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.601 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.601 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.601 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.601 * [backup-simplify]: Simplify lambda2 into lambda2 9.601 * [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 9.601 * [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 9.601 * [taylor]: Taking taylor expansion of 1.5 in phi1 9.601 * [backup-simplify]: Simplify 1.5 into 1.5 9.602 * [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 9.602 * [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 9.602 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.602 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.602 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.602 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.602 * [backup-simplify]: Simplify 0.5 into 0.5 9.602 * [taylor]: Taking taylor expansion of phi1 in phi1 9.602 * [backup-simplify]: Simplify 0 into 0 9.602 * [backup-simplify]: Simplify 1 into 1 9.602 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.603 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.603 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2))) in phi1 9.603 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 9.603 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.603 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.603 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.603 * [backup-simplify]: Simplify 0.5 into 0.5 9.603 * [taylor]: Taking taylor expansion of phi1 in phi1 9.603 * [backup-simplify]: Simplify 0 into 0 9.603 * [backup-simplify]: Simplify 1 into 1 9.603 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.604 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.607 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.607 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow lambda1 2)) in phi1 9.607 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.607 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.607 * [backup-simplify]: Simplify lambda2 into lambda2 9.607 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.607 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.607 * [backup-simplify]: Simplify lambda1 into lambda1 9.607 * [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 9.607 * [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 9.607 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.607 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.607 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.607 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.607 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.607 * [backup-simplify]: Simplify 0.5 into 0.5 9.607 * [taylor]: Taking taylor expansion of phi1 in phi1 9.607 * [backup-simplify]: Simplify 0 into 0 9.607 * [backup-simplify]: Simplify 1 into 1 9.608 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.609 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.609 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.609 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.609 * [backup-simplify]: Simplify lambda2 into lambda2 9.609 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.609 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.609 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.609 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.609 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.609 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.609 * [backup-simplify]: Simplify 0.5 into 0.5 9.609 * [taylor]: Taking taylor expansion of phi1 in phi1 9.609 * [backup-simplify]: Simplify 0 into 0 9.610 * [backup-simplify]: Simplify 1 into 1 9.610 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.611 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.611 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.611 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.611 * [backup-simplify]: Simplify lambda1 into lambda1 9.611 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.611 * [taylor]: Taking taylor expansion of phi1 in phi1 9.611 * [backup-simplify]: Simplify 0 into 0 9.611 * [backup-simplify]: Simplify 1 into 1 9.611 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.611 * [taylor]: Taking taylor expansion of 2 in phi1 9.612 * [backup-simplify]: Simplify 2 into 2 9.612 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.612 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.612 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.612 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.612 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.612 * [backup-simplify]: Simplify 0.5 into 0.5 9.612 * [taylor]: Taking taylor expansion of phi1 in phi1 9.612 * [backup-simplify]: Simplify 0 into 0 9.612 * [backup-simplify]: Simplify 1 into 1 9.612 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.613 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.613 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.613 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.613 * [backup-simplify]: Simplify lambda2 into lambda2 9.613 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.613 * [backup-simplify]: Simplify lambda1 into lambda1 9.614 * [backup-simplify]: Simplify (* 1 1) into 1 9.614 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 9.614 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.614 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.614 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow lambda1 2)) into (* (pow lambda2 2) (pow lambda1 2)) 9.614 * [backup-simplify]: Simplify (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) into (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) 9.615 * [backup-simplify]: Simplify (* 1 (* 0.25 (* (pow lambda2 2) (pow lambda1 2)))) into (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) 9.615 * [backup-simplify]: Simplify (* 1 1) into 1 9.615 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.615 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.615 * [backup-simplify]: Simplify (* 1 1) into 1 9.615 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.615 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.615 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 9.616 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 9.616 * [backup-simplify]: Simplify (* 1 1) into 1 9.616 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.616 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.616 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 9.616 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 9.616 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 9.617 * [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))))) 9.617 * [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 9.617 * [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 9.617 * [taylor]: Taking taylor expansion of 0.25 in phi1 9.617 * [backup-simplify]: Simplify 0.25 into 0.25 9.617 * [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 9.617 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) in phi1 9.617 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.617 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.617 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.617 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.617 * [backup-simplify]: Simplify 0.5 into 0.5 9.617 * [taylor]: Taking taylor expansion of phi1 in phi1 9.617 * [backup-simplify]: Simplify 0 into 0 9.617 * [backup-simplify]: Simplify 1 into 1 9.617 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.618 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.618 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4)) in phi1 9.618 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 9.618 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.618 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.618 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.618 * [backup-simplify]: Simplify 0.5 into 0.5 9.618 * [taylor]: Taking taylor expansion of phi1 in phi1 9.618 * [backup-simplify]: Simplify 0 into 0 9.618 * [backup-simplify]: Simplify 1 into 1 9.619 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.620 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.621 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.621 * [taylor]: Taking taylor expansion of (pow lambda1 4) in phi1 9.621 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.621 * [backup-simplify]: Simplify lambda1 into lambda1 9.621 * [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 9.621 * [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 9.621 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.621 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.621 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.621 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.621 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.621 * [backup-simplify]: Simplify 0.5 into 0.5 9.621 * [taylor]: Taking taylor expansion of phi1 in phi1 9.621 * [backup-simplify]: Simplify 0 into 0 9.621 * [backup-simplify]: Simplify 1 into 1 9.621 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.622 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.622 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.622 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.622 * [backup-simplify]: Simplify lambda2 into lambda2 9.622 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.622 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.622 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.622 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.622 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.622 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.623 * [backup-simplify]: Simplify 0.5 into 0.5 9.623 * [taylor]: Taking taylor expansion of phi1 in phi1 9.623 * [backup-simplify]: Simplify 0 into 0 9.623 * [backup-simplify]: Simplify 1 into 1 9.623 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.624 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.624 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.624 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.624 * [backup-simplify]: Simplify lambda1 into lambda1 9.624 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.624 * [taylor]: Taking taylor expansion of phi1 in phi1 9.624 * [backup-simplify]: Simplify 0 into 0 9.624 * [backup-simplify]: Simplify 1 into 1 9.624 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.624 * [taylor]: Taking taylor expansion of 2 in phi1 9.624 * [backup-simplify]: Simplify 2 into 2 9.624 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.624 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.624 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.624 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.624 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.624 * [backup-simplify]: Simplify 0.5 into 0.5 9.624 * [taylor]: Taking taylor expansion of phi1 in phi1 9.624 * [backup-simplify]: Simplify 0 into 0 9.624 * [backup-simplify]: Simplify 1 into 1 9.624 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.625 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.625 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.625 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.625 * [backup-simplify]: Simplify lambda2 into lambda2 9.625 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.625 * [backup-simplify]: Simplify lambda1 into lambda1 9.626 * [backup-simplify]: Simplify (* 1 1) into 1 9.626 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 9.626 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.626 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4) 9.626 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 4)) into (* 0.25 (pow lambda1 4)) 9.626 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda1 4))) into (* 0.25 (pow lambda1 4)) 9.626 * [backup-simplify]: Simplify (* 1 1) into 1 9.626 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.627 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.627 * [backup-simplify]: Simplify (* 1 1) into 1 9.627 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.627 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.627 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 9.627 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 9.627 * [backup-simplify]: Simplify (* 1 1) into 1 9.627 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.627 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.628 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 9.628 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 9.628 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 9.628 * [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))))) 9.628 * [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 9.628 * [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 9.628 * [taylor]: Taking taylor expansion of 1.0 in phi1 9.628 * [backup-simplify]: Simplify 1.0 into 1.0 9.628 * [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 9.628 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) in phi1 9.628 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.628 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.628 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.628 * [backup-simplify]: Simplify 0.5 into 0.5 9.628 * [taylor]: Taking taylor expansion of phi1 in phi1 9.628 * [backup-simplify]: Simplify 0 into 0 9.628 * [backup-simplify]: Simplify 1 into 1 9.629 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.630 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.630 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1)) in phi1 9.630 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.630 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.630 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.630 * [backup-simplify]: Simplify 0.5 into 0.5 9.630 * [taylor]: Taking taylor expansion of phi1 in phi1 9.630 * [backup-simplify]: Simplify 0 into 0 9.630 * [backup-simplify]: Simplify 1 into 1 9.630 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.631 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.631 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 9.631 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.631 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.631 * [backup-simplify]: Simplify lambda1 into lambda1 9.631 * [taylor]: Taking taylor expansion of phi1 in phi1 9.631 * [backup-simplify]: Simplify 0 into 0 9.631 * [backup-simplify]: Simplify 1 into 1 9.631 * [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 9.631 * [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 9.631 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.631 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.631 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.631 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.631 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.631 * [backup-simplify]: Simplify 0.5 into 0.5 9.631 * [taylor]: Taking taylor expansion of phi1 in phi1 9.631 * [backup-simplify]: Simplify 0 into 0 9.631 * [backup-simplify]: Simplify 1 into 1 9.632 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.632 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.632 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.632 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.632 * [backup-simplify]: Simplify lambda2 into lambda2 9.632 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.632 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.633 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.633 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.633 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.633 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.633 * [backup-simplify]: Simplify 0.5 into 0.5 9.633 * [taylor]: Taking taylor expansion of phi1 in phi1 9.633 * [backup-simplify]: Simplify 0 into 0 9.633 * [backup-simplify]: Simplify 1 into 1 9.633 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.634 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.634 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.634 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.634 * [backup-simplify]: Simplify lambda1 into lambda1 9.634 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.634 * [taylor]: Taking taylor expansion of phi1 in phi1 9.634 * [backup-simplify]: Simplify 0 into 0 9.634 * [backup-simplify]: Simplify 1 into 1 9.634 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.634 * [taylor]: Taking taylor expansion of 2 in phi1 9.634 * [backup-simplify]: Simplify 2 into 2 9.634 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.634 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.634 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.634 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.634 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.634 * [backup-simplify]: Simplify 0.5 into 0.5 9.634 * [taylor]: Taking taylor expansion of phi1 in phi1 9.634 * [backup-simplify]: Simplify 0 into 0 9.634 * [backup-simplify]: Simplify 1 into 1 9.634 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.635 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.635 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.635 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.635 * [backup-simplify]: Simplify lambda2 into lambda2 9.635 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.635 * [backup-simplify]: Simplify lambda1 into lambda1 9.635 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.636 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 9.636 * [backup-simplify]: Simplify (* 0 0) into 0 9.636 * [backup-simplify]: Simplify (* 1 0) into 0 9.636 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.637 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 9.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.638 * [backup-simplify]: Simplify (+ (* 0 (pow lambda1 2)) (* 0.5 0)) into 0 9.639 * [backup-simplify]: Simplify (+ 0) into 0 9.639 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 9.639 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 9.640 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (+ (* 0 1) (* 0 0))) into 0 9.641 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 9.642 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.643 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda1 2)) (* 0 0))) into (* 0.5 (pow lambda1 2)) 9.646 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 9.647 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda1 2)) 9.647 * [backup-simplify]: Simplify (* 1 1) into 1 9.647 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.647 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.648 * [backup-simplify]: Simplify (* 1 1) into 1 9.648 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.648 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.648 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 9.648 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 9.649 * [backup-simplify]: Simplify (* 1 1) into 1 9.649 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.649 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.649 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 9.649 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 9.649 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 9.650 * [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))))) 9.650 * [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 9.650 * [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 9.650 * [taylor]: Taking taylor expansion of 0.25 in phi1 9.650 * [backup-simplify]: Simplify 0.25 into 0.25 9.650 * [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 9.650 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) in phi1 9.650 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.650 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.650 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.650 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.650 * [backup-simplify]: Simplify 0.5 into 0.5 9.650 * [taylor]: Taking taylor expansion of phi1 in phi1 9.650 * [backup-simplify]: Simplify 0 into 0 9.651 * [backup-simplify]: Simplify 1 into 1 9.651 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.652 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.652 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4)) in phi1 9.652 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 9.653 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.653 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.653 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.653 * [backup-simplify]: Simplify 0.5 into 0.5 9.653 * [taylor]: Taking taylor expansion of phi1 in phi1 9.653 * [backup-simplify]: Simplify 0 into 0 9.653 * [backup-simplify]: Simplify 1 into 1 9.653 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.655 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.657 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.657 * [taylor]: Taking taylor expansion of (pow lambda2 4) in phi1 9.657 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.658 * [backup-simplify]: Simplify lambda2 into lambda2 9.658 * [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 9.658 * [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 9.658 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.658 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.658 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.658 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.658 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.658 * [backup-simplify]: Simplify 0.5 into 0.5 9.658 * [taylor]: Taking taylor expansion of phi1 in phi1 9.658 * [backup-simplify]: Simplify 0 into 0 9.658 * [backup-simplify]: Simplify 1 into 1 9.658 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.660 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.660 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.660 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.660 * [backup-simplify]: Simplify lambda2 into lambda2 9.660 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.660 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.660 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.660 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.660 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.660 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.660 * [backup-simplify]: Simplify 0.5 into 0.5 9.660 * [taylor]: Taking taylor expansion of phi1 in phi1 9.660 * [backup-simplify]: Simplify 0 into 0 9.660 * [backup-simplify]: Simplify 1 into 1 9.661 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.662 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.662 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.662 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.662 * [backup-simplify]: Simplify lambda1 into lambda1 9.662 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.662 * [taylor]: Taking taylor expansion of phi1 in phi1 9.662 * [backup-simplify]: Simplify 0 into 0 9.662 * [backup-simplify]: Simplify 1 into 1 9.662 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.662 * [taylor]: Taking taylor expansion of 2 in phi1 9.662 * [backup-simplify]: Simplify 2 into 2 9.662 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.662 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.663 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.663 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.663 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.663 * [backup-simplify]: Simplify 0.5 into 0.5 9.663 * [taylor]: Taking taylor expansion of phi1 in phi1 9.663 * [backup-simplify]: Simplify 0 into 0 9.663 * [backup-simplify]: Simplify 1 into 1 9.663 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.665 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.665 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.665 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.665 * [backup-simplify]: Simplify lambda2 into lambda2 9.665 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.665 * [backup-simplify]: Simplify lambda1 into lambda1 9.665 * [backup-simplify]: Simplify (* 1 1) into 1 9.665 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 9.666 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.666 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow lambda2 2)) into (pow lambda2 4) 9.666 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 4)) into (* 0.25 (pow lambda2 4)) 9.667 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda2 4))) into (* 0.25 (pow lambda2 4)) 9.667 * [backup-simplify]: Simplify (* 1 1) into 1 9.667 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.667 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.668 * [backup-simplify]: Simplify (* 1 1) into 1 9.668 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.668 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.668 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 9.668 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 9.669 * [backup-simplify]: Simplify (* 1 1) into 1 9.669 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.669 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.669 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 9.669 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 9.669 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 9.670 * [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))))) 9.670 * [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 9.670 * [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 9.670 * [taylor]: Taking taylor expansion of 1.0 in phi1 9.670 * [backup-simplify]: Simplify 1.0 into 1.0 9.670 * [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 9.670 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) in phi1 9.670 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.670 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.670 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.670 * [backup-simplify]: Simplify 0.5 into 0.5 9.670 * [taylor]: Taking taylor expansion of phi1 in phi1 9.670 * [backup-simplify]: Simplify 0 into 0 9.670 * [backup-simplify]: Simplify 1 into 1 9.671 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.672 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.673 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1)) in phi1 9.673 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.673 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.673 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.673 * [backup-simplify]: Simplify 0.5 into 0.5 9.673 * [taylor]: Taking taylor expansion of phi1 in phi1 9.673 * [backup-simplify]: Simplify 0 into 0 9.673 * [backup-simplify]: Simplify 1 into 1 9.673 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.675 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.675 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 9.675 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.675 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.675 * [backup-simplify]: Simplify lambda2 into lambda2 9.675 * [taylor]: Taking taylor expansion of phi1 in phi1 9.675 * [backup-simplify]: Simplify 0 into 0 9.675 * [backup-simplify]: Simplify 1 into 1 9.675 * [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 9.675 * [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 9.675 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.675 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.675 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.675 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.675 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.675 * [backup-simplify]: Simplify 0.5 into 0.5 9.675 * [taylor]: Taking taylor expansion of phi1 in phi1 9.675 * [backup-simplify]: Simplify 0 into 0 9.675 * [backup-simplify]: Simplify 1 into 1 9.676 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.678 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.678 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.678 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.678 * [backup-simplify]: Simplify lambda2 into lambda2 9.678 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.678 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.678 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.678 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.678 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.678 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.678 * [backup-simplify]: Simplify 0.5 into 0.5 9.678 * [taylor]: Taking taylor expansion of phi1 in phi1 9.678 * [backup-simplify]: Simplify 0 into 0 9.678 * [backup-simplify]: Simplify 1 into 1 9.678 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.680 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.680 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.680 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.680 * [backup-simplify]: Simplify lambda1 into lambda1 9.680 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.680 * [taylor]: Taking taylor expansion of phi1 in phi1 9.680 * [backup-simplify]: Simplify 0 into 0 9.680 * [backup-simplify]: Simplify 1 into 1 9.680 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.680 * [taylor]: Taking taylor expansion of 2 in phi1 9.680 * [backup-simplify]: Simplify 2 into 2 9.680 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.680 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.680 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.680 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.680 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.681 * [backup-simplify]: Simplify 0.5 into 0.5 9.681 * [taylor]: Taking taylor expansion of phi1 in phi1 9.681 * [backup-simplify]: Simplify 0 into 0 9.681 * [backup-simplify]: Simplify 1 into 1 9.681 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.683 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.683 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.683 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.683 * [backup-simplify]: Simplify lambda2 into lambda2 9.683 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.683 * [backup-simplify]: Simplify lambda1 into lambda1 9.683 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.683 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 9.683 * [backup-simplify]: Simplify (* 0 0) into 0 9.684 * [backup-simplify]: Simplify (* 1 0) into 0 9.684 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.685 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 9.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.688 * [backup-simplify]: Simplify (+ (* 0 (pow lambda2 2)) (* 0.5 0)) into 0 9.688 * [backup-simplify]: Simplify (+ 0) into 0 9.689 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 9.689 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 9.690 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 1) (* 0 0))) into 0 9.691 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 9.692 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.693 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda2 2)) (* 0 0))) into (* 0.5 (pow lambda2 2)) 9.696 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 9.696 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda2 2)) 9.696 * [backup-simplify]: Simplify (* 1 1) into 1 9.696 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.697 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.697 * [backup-simplify]: Simplify (* 1 1) into 1 9.697 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.697 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.697 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 9.697 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 9.697 * [backup-simplify]: Simplify (* 1 1) into 1 9.697 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.698 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.698 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 9.698 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 9.698 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 9.698 * [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))))) 9.698 * [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 9.698 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.698 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.698 * [backup-simplify]: Simplify 0.5 into 0.5 9.698 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.698 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 9.698 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.698 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.698 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.698 * [backup-simplify]: Simplify 0.5 into 0.5 9.698 * [taylor]: Taking taylor expansion of phi1 in phi1 9.698 * [backup-simplify]: Simplify 0 into 0 9.698 * [backup-simplify]: Simplify 1 into 1 9.699 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.700 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.701 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.701 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.701 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.701 * [backup-simplify]: Simplify lambda2 into lambda2 9.701 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.701 * [backup-simplify]: Simplify lambda1 into lambda1 9.701 * [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 9.701 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 9.701 * [taylor]: Taking taylor expansion of 0.25 in phi1 9.701 * [backup-simplify]: Simplify 0.25 into 0.25 9.701 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.701 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.701 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.701 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.701 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.701 * [backup-simplify]: Simplify 0.5 into 0.5 9.701 * [taylor]: Taking taylor expansion of phi1 in phi1 9.701 * [backup-simplify]: Simplify 0 into 0 9.701 * [backup-simplify]: Simplify 1 into 1 9.702 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.703 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.703 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.703 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.703 * [backup-simplify]: Simplify lambda1 into lambda1 9.703 * [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 9.703 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.703 * [taylor]: Taking taylor expansion of phi1 in phi1 9.703 * [backup-simplify]: Simplify 0 into 0 9.703 * [backup-simplify]: Simplify 1 into 1 9.703 * [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 9.703 * [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 9.703 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 9.703 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.703 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.703 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.703 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.703 * [backup-simplify]: Simplify 0.5 into 0.5 9.703 * [taylor]: Taking taylor expansion of phi1 in phi1 9.703 * [backup-simplify]: Simplify 0 into 0 9.703 * [backup-simplify]: Simplify 1 into 1 9.703 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.704 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.704 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.704 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.704 * [backup-simplify]: Simplify lambda2 into lambda2 9.704 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 9.704 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 9.704 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.704 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.704 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.704 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.704 * [backup-simplify]: Simplify 0.5 into 0.5 9.704 * [taylor]: Taking taylor expansion of phi1 in phi1 9.704 * [backup-simplify]: Simplify 0 into 0 9.704 * [backup-simplify]: Simplify 1 into 1 9.705 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.705 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.705 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.705 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.706 * [backup-simplify]: Simplify lambda1 into lambda1 9.706 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.706 * [taylor]: Taking taylor expansion of phi1 in phi1 9.706 * [backup-simplify]: Simplify 0 into 0 9.706 * [backup-simplify]: Simplify 1 into 1 9.706 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 9.706 * [taylor]: Taking taylor expansion of 2 in phi1 9.706 * [backup-simplify]: Simplify 2 into 2 9.706 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 9.706 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 9.706 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.706 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.706 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.706 * [backup-simplify]: Simplify 0.5 into 0.5 9.706 * [taylor]: Taking taylor expansion of phi1 in phi1 9.706 * [backup-simplify]: Simplify 0 into 0 9.706 * [backup-simplify]: Simplify 1 into 1 9.706 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.707 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.707 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.707 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.707 * [backup-simplify]: Simplify lambda2 into lambda2 9.707 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.707 * [backup-simplify]: Simplify lambda1 into lambda1 9.707 * [backup-simplify]: Simplify (* 1 1) into 1 9.708 * [backup-simplify]: Simplify (* 1 1) into 1 9.708 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.708 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.709 * [backup-simplify]: Simplify (* 1 1) into 1 9.709 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.709 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.710 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 9.710 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 9.714 * [backup-simplify]: Simplify (* 1 1) into 1 9.714 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.714 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.714 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 9.714 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 9.715 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 9.715 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 9.716 * [backup-simplify]: Simplify (* 1 1) into 1 9.716 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.716 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 9.716 * [backup-simplify]: Simplify (* 0.5 (* lambda2 lambda1)) into (* 0.5 (* lambda2 lambda1)) 9.716 * [backup-simplify]: Simplify (+ 0 1) into 1 9.716 * [backup-simplify]: Simplify (+ 0 1) into 1 9.717 * [backup-simplify]: Simplify (+ 0 1) into 1 9.717 * [backup-simplify]: Simplify (+ 0 1) into 1 9.717 * [backup-simplify]: Simplify (+ (* 0.5 (* lambda2 lambda1)) 1) into (+ 1 (* 0.5 (* lambda2 lambda1))) 9.717 * [backup-simplify]: Simplify (+ 0 (+ 1 (* 0.5 (* lambda2 lambda1)))) into (+ (* 0.5 (* lambda2 lambda1)) 1) 9.718 * [backup-simplify]: Simplify (* 1 1) into 1 9.718 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.718 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 9.718 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 9.718 * [backup-simplify]: Simplify (* 1 1) into 1 9.718 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.718 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 9.718 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 9.718 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2)) 9.718 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 9.719 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 9.719 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 9.719 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 9.719 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 9.719 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 9.719 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda2 2)) (* 0.25 (pow lambda1 2))) into (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) 9.719 * [backup-simplify]: Simplify (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) into (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 9.720 * [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)))) 9.720 * [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)))))) 9.721 * [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))))))) 9.721 * [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 lambda1 9.721 * [taylor]: Taking taylor expansion of 1/2 in lambda1 9.721 * [backup-simplify]: Simplify 1/2 into 1/2 9.721 * [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 lambda1 9.721 * [taylor]: Taking taylor expansion of (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda1 9.721 * [taylor]: Taking taylor expansion of (+ (* 0.5 (* lambda2 lambda1)) 1) in lambda1 9.721 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda1 9.721 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.721 * [backup-simplify]: Simplify 0.5 into 0.5 9.721 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.721 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.721 * [backup-simplify]: Simplify lambda2 into lambda2 9.721 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.721 * [backup-simplify]: Simplify 0 into 0 9.721 * [backup-simplify]: Simplify 1 into 1 9.721 * [taylor]: Taking taylor expansion of 1 in lambda1 9.721 * [backup-simplify]: Simplify 1 into 1 9.721 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda1 9.721 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 9.721 * [taylor]: Taking taylor expansion of 0.25 in lambda1 9.721 * [backup-simplify]: Simplify 0.25 into 0.25 9.721 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.721 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.721 * [backup-simplify]: Simplify 0 into 0 9.721 * [backup-simplify]: Simplify 1 into 1 9.721 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda1 9.721 * [taylor]: Taking taylor expansion of 0.25 in lambda1 9.721 * [backup-simplify]: Simplify 0.25 into 0.25 9.721 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.721 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.721 * [backup-simplify]: Simplify lambda2 into lambda2 9.721 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 9.721 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 9.722 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 9.722 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 9.722 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.722 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.722 * [backup-simplify]: Simplify 0 into 0 9.722 * [backup-simplify]: Simplify 1 into 1 9.722 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.722 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.722 * [backup-simplify]: Simplify lambda2 into lambda2 9.722 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 9.722 * [taylor]: Taking taylor expansion of 2 in lambda1 9.722 * [backup-simplify]: Simplify 2 into 2 9.722 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.722 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.722 * [backup-simplify]: Simplify lambda2 into lambda2 9.722 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.722 * [backup-simplify]: Simplify 0 into 0 9.722 * [backup-simplify]: Simplify 1 into 1 9.722 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.722 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 9.722 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.722 * [backup-simplify]: Simplify (* 2 0) into 0 9.723 * [backup-simplify]: Simplify (- 0) into 0 9.723 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 9.723 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 9.723 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 9.723 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.723 * [backup-simplify]: Simplify (+ 0 0) into 0 9.723 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 9.724 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 9.724 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 9.724 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 9.724 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 9.724 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 9.724 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.725 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.725 * [backup-simplify]: Simplify (+ 0 1) into 1 9.725 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.725 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 9.725 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda2 2))) into (* 0.25 (pow lambda2 2)) 9.725 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda2 2))) into (- (* 0.25 (pow lambda2 2))) 9.725 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda2 2)))) into (- 1 (* 0.25 (pow lambda2 2))) 9.725 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda2 2))) (/ 1 lambda2)) into (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) 9.726 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) 9.726 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) in lambda2 9.726 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.726 * [backup-simplify]: Simplify 1/2 into 1/2 9.726 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) in lambda2 9.726 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda2 2))) in lambda2 9.726 * [taylor]: Taking taylor expansion of 1 in lambda2 9.726 * [backup-simplify]: Simplify 1 into 1 9.726 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 9.726 * [taylor]: Taking taylor expansion of 0.25 in lambda2 9.726 * [backup-simplify]: Simplify 0.25 into 0.25 9.726 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.726 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.726 * [backup-simplify]: Simplify 0 into 0 9.726 * [backup-simplify]: Simplify 1 into 1 9.726 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.726 * [backup-simplify]: Simplify 0 into 0 9.726 * [backup-simplify]: Simplify 1 into 1 9.726 * [backup-simplify]: Simplify (+ 1 0) into 1 9.727 * [backup-simplify]: Simplify (/ 1 1) into 1 9.727 * [backup-simplify]: Simplify (+ 0 0) into 0 9.727 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 9.728 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 9.728 * [backup-simplify]: Simplify 0 into 0 9.728 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 9.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.730 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* lambda2 lambda1))) into (* 0.5 (* lambda2 lambda1)) 9.730 * [backup-simplify]: Simplify (+ 0) into 0 9.730 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 0.5 (* lambda2 lambda1)) 9.731 * [backup-simplify]: Simplify (+ (* 2.0 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 1.0 (* lambda2 lambda1)) 9.731 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.732 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.733 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 9.733 * [backup-simplify]: Simplify (+ 0) into 0 9.733 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 9.734 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 9.734 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.735 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.736 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 9.736 * [backup-simplify]: Simplify (+ 0) into 0 9.736 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 9.737 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 9.737 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2 9.737 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda2 2)) 2) into (+ (* 0.5 (pow lambda2 2)) 2) 9.737 * [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)) 9.738 * [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))) 9.738 * [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))))) 9.739 * [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)))))) 9.741 * [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)))))))) 9.741 * [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 lambda1 9.741 * [taylor]: Taking taylor expansion of (* 0.5 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (* lambda2 lambda1))) in lambda1 9.741 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.741 * [backup-simplify]: Simplify 0.5 into 0.5 9.741 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (* lambda2 lambda1)) in lambda1 9.741 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 9.741 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 9.741 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 9.741 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 9.741 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.741 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.741 * [backup-simplify]: Simplify 0 into 0 9.741 * [backup-simplify]: Simplify 1 into 1 9.741 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.741 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.741 * [backup-simplify]: Simplify lambda2 into lambda2 9.741 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 9.741 * [taylor]: Taking taylor expansion of 2 in lambda1 9.741 * [backup-simplify]: Simplify 2 into 2 9.741 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.741 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.741 * [backup-simplify]: Simplify lambda2 into lambda2 9.741 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.741 * [backup-simplify]: Simplify 0 into 0 9.741 * [backup-simplify]: Simplify 1 into 1 9.741 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.741 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 9.742 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.742 * [backup-simplify]: Simplify (* 2 0) into 0 9.742 * [backup-simplify]: Simplify (- 0) into 0 9.742 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 9.742 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 9.742 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 9.742 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.743 * [backup-simplify]: Simplify (+ 0 0) into 0 9.743 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 9.743 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 9.743 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 9.743 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 9.744 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 9.744 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 9.744 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.744 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.744 * [backup-simplify]: Simplify lambda2 into lambda2 9.744 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.744 * [backup-simplify]: Simplify 0 into 0 9.744 * [backup-simplify]: Simplify 1 into 1 9.744 * [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 lambda1 9.744 * [taylor]: Taking taylor expansion of (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2))) in lambda1 9.744 * [taylor]: Taking taylor expansion of 0.25 in lambda1 9.744 * [backup-simplify]: Simplify 0.25 into 0.25 9.744 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2)) in lambda1 9.744 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 9.744 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 9.744 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 9.744 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 9.744 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.744 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.744 * [backup-simplify]: Simplify 0 into 0 9.744 * [backup-simplify]: Simplify 1 into 1 9.744 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.744 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.744 * [backup-simplify]: Simplify lambda2 into lambda2 9.744 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 9.744 * [taylor]: Taking taylor expansion of 2 in lambda1 9.744 * [backup-simplify]: Simplify 2 into 2 9.744 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.744 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.744 * [backup-simplify]: Simplify lambda2 into lambda2 9.744 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.744 * [backup-simplify]: Simplify 0 into 0 9.744 * [backup-simplify]: Simplify 1 into 1 9.744 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.744 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 9.744 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.745 * [backup-simplify]: Simplify (* 2 0) into 0 9.745 * [backup-simplify]: Simplify (- 0) into 0 9.745 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 9.745 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 9.745 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 9.745 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.746 * [backup-simplify]: Simplify (+ 0 0) into 0 9.746 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 9.746 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 9.746 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 9.746 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 9.746 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 9.747 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 9.747 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.747 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.747 * [backup-simplify]: Simplify lambda2 into lambda2 9.747 * [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 lambda1 9.747 * [taylor]: Taking taylor expansion of (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2))) in lambda1 9.747 * [taylor]: Taking taylor expansion of 0.25 in lambda1 9.747 * [backup-simplify]: Simplify 0.25 into 0.25 9.747 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2)) in lambda1 9.747 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 9.747 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 9.747 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 9.747 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 9.747 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.747 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.747 * [backup-simplify]: Simplify 0 into 0 9.747 * [backup-simplify]: Simplify 1 into 1 9.747 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.747 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.747 * [backup-simplify]: Simplify lambda2 into lambda2 9.747 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 9.747 * [taylor]: Taking taylor expansion of 2 in lambda1 9.747 * [backup-simplify]: Simplify 2 into 2 9.747 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.747 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.747 * [backup-simplify]: Simplify lambda2 into lambda2 9.747 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.747 * [backup-simplify]: Simplify 0 into 0 9.747 * [backup-simplify]: Simplify 1 into 1 9.747 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.747 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 9.747 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.748 * [backup-simplify]: Simplify (* 2 0) into 0 9.748 * [backup-simplify]: Simplify (- 0) into 0 9.749 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 9.749 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 9.749 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 9.749 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.749 * [backup-simplify]: Simplify (+ 0 0) into 0 9.750 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 9.750 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 9.750 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 9.750 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 9.750 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 9.751 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 9.751 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.751 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.751 * [backup-simplify]: Simplify 0 into 0 9.751 * [backup-simplify]: Simplify 1 into 1 9.751 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 9.751 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 9.751 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 9.751 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 9.751 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.751 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.751 * [backup-simplify]: Simplify 0 into 0 9.751 * [backup-simplify]: Simplify 1 into 1 9.751 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.751 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.751 * [backup-simplify]: Simplify lambda2 into lambda2 9.751 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 9.751 * [taylor]: Taking taylor expansion of 2 in lambda1 9.751 * [backup-simplify]: Simplify 2 into 2 9.751 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.751 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.751 * [backup-simplify]: Simplify lambda2 into lambda2 9.751 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.751 * [backup-simplify]: Simplify 0 into 0 9.751 * [backup-simplify]: Simplify 1 into 1 9.751 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.751 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 9.751 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.751 * [backup-simplify]: Simplify (* 2 0) into 0 9.752 * [backup-simplify]: Simplify (- 0) into 0 9.752 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 9.752 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 9.752 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 9.752 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.753 * [backup-simplify]: Simplify (+ 0 0) into 0 9.753 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 9.754 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 9.754 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 9.754 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 9.754 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 9.754 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 9.755 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.755 * [backup-simplify]: Simplify (* (/ 1 lambda2) 0) into 0 9.755 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.755 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.755 * [backup-simplify]: Simplify (* (/ 1 lambda2) (pow lambda2 2)) into lambda2 9.755 * [backup-simplify]: Simplify (* 0.25 lambda2) into (* 0.25 lambda2) 9.755 * [backup-simplify]: Simplify (+ 0 (/ 1 lambda2)) into (/ 1 lambda2) 9.756 * [backup-simplify]: Simplify (+ (* 0.25 lambda2) (/ 1 lambda2)) into (+ (* 0.25 lambda2) (/ 1 lambda2)) 9.756 * [backup-simplify]: Simplify (- (+ (* 0.25 lambda2) (/ 1 lambda2))) into (- (+ (* 0.25 lambda2) (/ 1 lambda2))) 9.756 * [backup-simplify]: Simplify (+ 0 (- (+ (* 0.25 lambda2) (/ 1 lambda2)))) into (- (+ (* 0.25 lambda2) (/ 1 lambda2))) 9.756 * [taylor]: Taking taylor expansion of (- (+ (* 0.25 lambda2) (/ 1 lambda2))) in lambda2 9.756 * [taylor]: Taking taylor expansion of (+ (* 0.25 lambda2) (/ 1 lambda2)) in lambda2 9.756 * [taylor]: Taking taylor expansion of (* 0.25 lambda2) in lambda2 9.756 * [taylor]: Taking taylor expansion of 0.25 in lambda2 9.756 * [backup-simplify]: Simplify 0.25 into 0.25 9.756 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.756 * [backup-simplify]: Simplify 0 into 0 9.756 * [backup-simplify]: Simplify 1 into 1 9.756 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 9.756 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.756 * [backup-simplify]: Simplify 0 into 0 9.756 * [backup-simplify]: Simplify 1 into 1 9.757 * [backup-simplify]: Simplify (/ 1 1) into 1 9.757 * [backup-simplify]: Simplify (* 0.25 0) into 0 9.758 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.758 * [backup-simplify]: Simplify (+ 0 0) into 0 9.759 * [backup-simplify]: Simplify (- 0) into 0 9.759 * [backup-simplify]: Simplify 0 into 0 9.759 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 9.762 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 9.766 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 9.767 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda2 2)))) into (- (* 0.25 (pow lambda2 2))) 9.768 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 9.770 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 9.774 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 9.776 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 9.776 * [backup-simplify]: Simplify (* 1 1) into 1 9.776 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda1 2))) 1) into (- 1 (* 0.25 (pow lambda1 2))) 9.777 * [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)))) 9.778 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 9.781 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 9.785 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 9.786 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* lambda2 lambda1)))) into (- (* 0.25 (* lambda2 lambda1))) 9.786 * [backup-simplify]: Simplify (+ (* 2 (- (* 0.25 (* lambda2 lambda1)))) (+ (* 0 0) (* 0 (* lambda2 lambda1)))) into (- (* 0.5 (* lambda2 lambda1))) 9.786 * [backup-simplify]: Simplify (- (- (* 0.5 (* lambda2 lambda1)))) into (* 0.5 (* lambda2 lambda1)) 9.787 * [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)))) 9.789 * [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))))))) 9.789 * [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 lambda1 9.789 * [taylor]: Taking taylor expansion of 1/2 in lambda1 9.789 * [backup-simplify]: Simplify 1/2 into 1/2 9.789 * [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 lambda1 9.789 * [taylor]: Taking taylor expansion of (- (+ 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda1 9.789 * [taylor]: Taking taylor expansion of (+ 1 (* 0.5 (* lambda2 lambda1))) in lambda1 9.789 * [taylor]: Taking taylor expansion of 1 in lambda1 9.789 * [backup-simplify]: Simplify 1 into 1 9.789 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda1 9.789 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.789 * [backup-simplify]: Simplify 0.5 into 0.5 9.789 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.789 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.789 * [backup-simplify]: Simplify lambda2 into lambda2 9.789 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.789 * [backup-simplify]: Simplify 0 into 0 9.789 * [backup-simplify]: Simplify 1 into 1 9.789 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda1 9.789 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 9.789 * [taylor]: Taking taylor expansion of 0.25 in lambda1 9.789 * [backup-simplify]: Simplify 0.25 into 0.25 9.789 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.789 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.790 * [backup-simplify]: Simplify 0 into 0 9.790 * [backup-simplify]: Simplify 1 into 1 9.790 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda1 9.790 * [taylor]: Taking taylor expansion of 0.25 in lambda1 9.790 * [backup-simplify]: Simplify 0.25 into 0.25 9.790 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.790 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.790 * [backup-simplify]: Simplify lambda2 into lambda2 9.790 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 9.790 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 9.790 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 9.790 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 9.790 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.790 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.790 * [backup-simplify]: Simplify 0 into 0 9.790 * [backup-simplify]: Simplify 1 into 1 9.790 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.790 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.790 * [backup-simplify]: Simplify lambda2 into lambda2 9.790 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 9.790 * [taylor]: Taking taylor expansion of 2 in lambda1 9.790 * [backup-simplify]: Simplify 2 into 2 9.790 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.790 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.790 * [backup-simplify]: Simplify lambda2 into lambda2 9.790 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.790 * [backup-simplify]: Simplify 0 into 0 9.790 * [backup-simplify]: Simplify 1 into 1 9.790 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.790 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 9.791 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.791 * [backup-simplify]: Simplify (* 2 0) into 0 9.791 * [backup-simplify]: Simplify (- 0) into 0 9.791 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 9.792 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 9.792 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 9.792 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.792 * [backup-simplify]: Simplify (+ 0 0) into 0 9.793 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 9.793 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 9.793 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 9.793 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 9.794 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 9.794 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 9.794 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.794 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.795 * [backup-simplify]: Simplify (+ 1 0) into 1 9.795 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.795 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 9.795 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda2 2))) into (* 0.25 (pow lambda2 2)) 9.795 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda2 2))) into (- (* 0.25 (pow lambda2 2))) 9.796 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda2 2)))) into (- 1 (* 0.25 (pow lambda2 2))) 9.796 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda2 2))) (/ 1 lambda2)) into (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) 9.796 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) 9.796 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) in lambda2 9.796 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.796 * [backup-simplify]: Simplify 1/2 into 1/2 9.796 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) in lambda2 9.796 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda2 2))) in lambda2 9.796 * [taylor]: Taking taylor expansion of 1 in lambda2 9.796 * [backup-simplify]: Simplify 1 into 1 9.796 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 9.796 * [taylor]: Taking taylor expansion of 0.25 in lambda2 9.796 * [backup-simplify]: Simplify 0.25 into 0.25 9.796 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.796 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.797 * [backup-simplify]: Simplify 0 into 0 9.797 * [backup-simplify]: Simplify 1 into 1 9.797 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.797 * [backup-simplify]: Simplify 0 into 0 9.797 * [backup-simplify]: Simplify 1 into 1 9.797 * [backup-simplify]: Simplify (+ 1 0) into 1 9.797 * [backup-simplify]: Simplify (/ 1 1) into 1 9.798 * [backup-simplify]: Simplify (+ 0 0) into 0 9.798 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 9.799 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 9.799 * [backup-simplify]: Simplify 0 into 0 9.799 * [taylor]: Taking taylor expansion of 0 in lambda2 9.799 * [backup-simplify]: Simplify 0 into 0 9.799 * [backup-simplify]: Simplify 0 into 0 9.799 * [taylor]: Taking taylor expansion of 0 in lambda2 9.799 * [backup-simplify]: Simplify 0 into 0 9.799 * [backup-simplify]: Simplify 0 into 0 9.800 * [backup-simplify]: Simplify (* 1 1) into 1 9.800 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 9.801 * [backup-simplify]: Simplify (+ 1 0) into 1 9.801 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 9.802 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 lambda2) (* 0 0))) into 0 9.802 * [backup-simplify]: Simplify (- 0) into 0 9.803 * [backup-simplify]: Simplify (+ 1 0) into 1 9.804 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 lambda2)) into 0 9.804 * [taylor]: Taking taylor expansion of 0 in lambda2 9.804 * [backup-simplify]: Simplify 0 into 0 9.804 * [backup-simplify]: Simplify 0 into 0 9.805 * [backup-simplify]: Simplify (+ (* 1 (* lambda2 (* 1 (* 1 1)))) (* -1 (* 1 (* lambda1 (* 1 1))))) into (- lambda2 lambda1) 9.807 * [backup-simplify]: Simplify (sqrt (+ (- (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (+ (pow (/ 1 lambda1) 2) (pow (/ 1 lambda2) 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)))))) 9.807 * [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 (phi2 phi1 lambda1 lambda2) around 0 9.807 * [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 9.807 * [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 9.807 * [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 9.807 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 9.807 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 9.807 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.807 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.807 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.807 * [backup-simplify]: Simplify 0.5 into 0.5 9.807 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.807 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.807 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.807 * [backup-simplify]: Simplify phi1 into phi1 9.807 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.807 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.807 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.808 * [backup-simplify]: Simplify phi2 into phi2 9.808 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.808 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.808 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.808 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.808 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.808 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.809 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.809 * [backup-simplify]: Simplify (- 0) into 0 9.809 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.809 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 9.809 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.809 * [backup-simplify]: Simplify lambda1 into lambda1 9.810 * [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) 9.810 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.810 * [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)) 9.810 * [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 9.810 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 9.810 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.810 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.810 * [backup-simplify]: Simplify phi2 into phi2 9.811 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.811 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.811 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2 9.811 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 9.811 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 9.811 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.811 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.811 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.811 * [backup-simplify]: Simplify 0.5 into 0.5 9.811 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.811 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.811 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.811 * [backup-simplify]: Simplify phi1 into phi1 9.811 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.811 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.811 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.811 * [backup-simplify]: Simplify phi2 into phi2 9.811 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.811 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.812 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.812 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.812 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.812 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.812 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.813 * [backup-simplify]: Simplify (- 0) into 0 9.813 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.813 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.813 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.813 * [backup-simplify]: Simplify 0 into 0 9.813 * [backup-simplify]: Simplify 1 into 1 9.813 * [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) 9.814 * [backup-simplify]: Simplify (* 1 1) into 1 9.814 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.814 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 9.814 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.814 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.814 * [backup-simplify]: Simplify phi1 into phi1 9.814 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.815 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.815 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 9.815 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 9.815 * [taylor]: Taking taylor expansion of 2 in lambda2 9.815 * [backup-simplify]: Simplify 2 into 2 9.815 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 9.815 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 9.815 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.815 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.815 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.815 * [backup-simplify]: Simplify 0.5 into 0.5 9.815 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.815 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.815 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.815 * [backup-simplify]: Simplify phi1 into phi1 9.815 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.815 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.815 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.815 * [backup-simplify]: Simplify phi2 into phi2 9.815 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.815 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.816 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.816 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.816 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.816 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.816 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.817 * [backup-simplify]: Simplify (- 0) into 0 9.817 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.817 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 9.817 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.817 * [backup-simplify]: Simplify 0 into 0 9.817 * [backup-simplify]: Simplify 1 into 1 9.817 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.817 * [backup-simplify]: Simplify lambda1 into lambda1 9.818 * [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) 9.818 * [backup-simplify]: Simplify (* 0 lambda1) into 0 9.818 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 9.818 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 9.818 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 9.818 * [taylor]: Taking taylor expansion of 2 in lambda2 9.818 * [backup-simplify]: Simplify 2 into 2 9.818 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 9.819 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 9.819 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.819 * [backup-simplify]: Simplify phi2 into phi2 9.819 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.819 * [backup-simplify]: Simplify phi1 into phi1 9.819 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 9.819 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 9.819 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.819 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.820 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.820 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.820 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.821 * [backup-simplify]: Simplify (+ 0) into 0 9.821 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.822 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.822 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.822 * [backup-simplify]: Simplify (+ 0 0) into 0 9.823 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.824 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.824 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.824 * [backup-simplify]: Simplify (- 0) into 0 9.825 * [backup-simplify]: Simplify (+ 0 0) into 0 9.825 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.826 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.827 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 9.828 * [backup-simplify]: Simplify (+ 0 0) into 0 9.828 * [backup-simplify]: Simplify (+ 0 0) into 0 9.829 * [backup-simplify]: Simplify (+ 0 0) into 0 9.829 * [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)) 9.829 * [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)) 9.830 * [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))) 9.830 * [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))) 9.831 * [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)) 9.831 * [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 9.831 * [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 9.831 * [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 9.832 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 9.832 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.832 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.832 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.832 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.832 * [backup-simplify]: Simplify 0.5 into 0.5 9.832 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.832 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.832 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.832 * [backup-simplify]: Simplify phi1 into phi1 9.832 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.832 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.832 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.832 * [backup-simplify]: Simplify phi2 into phi2 9.832 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.832 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.832 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.832 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.833 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.833 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.833 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.834 * [backup-simplify]: Simplify (- 0) into 0 9.834 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.834 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.834 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.834 * [backup-simplify]: Simplify 0 into 0 9.834 * [backup-simplify]: Simplify 1 into 1 9.835 * [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) 9.835 * [backup-simplify]: Simplify (* 1 1) into 1 9.835 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.835 * [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 9.836 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 9.836 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 9.836 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.836 * [backup-simplify]: Simplify phi2 into phi2 9.836 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.836 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.836 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 9.836 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 9.836 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.836 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.836 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.836 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.836 * [backup-simplify]: Simplify 0.5 into 0.5 9.836 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.836 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.836 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.836 * [backup-simplify]: Simplify phi1 into phi1 9.836 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.836 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.836 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.836 * [backup-simplify]: Simplify phi2 into phi2 9.836 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.837 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.837 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.837 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.837 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.837 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.837 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.838 * [backup-simplify]: Simplify (- 0) into 0 9.838 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.838 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.838 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.838 * [backup-simplify]: Simplify lambda2 into lambda2 9.839 * [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) 9.839 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.839 * [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)) 9.839 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 9.839 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 9.839 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.839 * [backup-simplify]: Simplify phi1 into phi1 9.839 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.839 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.839 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 9.839 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 9.840 * [taylor]: Taking taylor expansion of 2 in lambda1 9.840 * [backup-simplify]: Simplify 2 into 2 9.840 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 9.840 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.840 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.840 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.840 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.840 * [backup-simplify]: Simplify 0.5 into 0.5 9.840 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.840 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.840 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.840 * [backup-simplify]: Simplify phi1 into phi1 9.840 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.840 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.840 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.840 * [backup-simplify]: Simplify phi2 into phi2 9.840 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.840 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.840 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.841 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.841 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.841 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.841 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.842 * [backup-simplify]: Simplify (- 0) into 0 9.842 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.842 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.842 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.842 * [backup-simplify]: Simplify lambda2 into lambda2 9.842 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.842 * [backup-simplify]: Simplify 0 into 0 9.842 * [backup-simplify]: Simplify 1 into 1 9.842 * [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) 9.842 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.843 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 9.843 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 9.843 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 9.843 * [taylor]: Taking taylor expansion of 2 in lambda1 9.843 * [backup-simplify]: Simplify 2 into 2 9.843 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 9.843 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 9.843 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.843 * [backup-simplify]: Simplify phi2 into phi2 9.843 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.843 * [backup-simplify]: Simplify phi1 into phi1 9.844 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 9.844 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 9.844 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.844 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.845 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.845 * [backup-simplify]: Simplify (+ 0) into 0 9.846 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.846 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.846 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.846 * [backup-simplify]: Simplify (+ 0 0) into 0 9.847 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.848 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.849 * [backup-simplify]: Simplify (- 0) into 0 9.849 * [backup-simplify]: Simplify (+ 0 0) into 0 9.850 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.850 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.851 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 9.852 * [backup-simplify]: Simplify (+ 0 0) into 0 9.852 * [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)) 9.853 * [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)) 9.853 * [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))) 9.854 * [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))) 9.854 * [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)) 9.854 * [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 9.855 * [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 9.855 * [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 9.855 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 9.855 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.855 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.855 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.855 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.855 * [backup-simplify]: Simplify 0.5 into 0.5 9.855 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.855 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.855 * [taylor]: Taking taylor expansion of phi1 in phi1 9.855 * [backup-simplify]: Simplify 0 into 0 9.855 * [backup-simplify]: Simplify 1 into 1 9.855 * [backup-simplify]: Simplify (/ 1 1) into 1 9.855 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.855 * [taylor]: Taking taylor expansion of phi2 in phi1 9.856 * [backup-simplify]: Simplify phi2 into phi2 9.856 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.856 * [backup-simplify]: Simplify (+ 1 0) into 1 9.856 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.857 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.857 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.857 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.857 * [backup-simplify]: Simplify lambda1 into lambda1 9.857 * [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) 9.857 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.858 * [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)) 9.858 * [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 9.858 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 9.858 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 9.858 * [taylor]: Taking taylor expansion of phi2 in phi1 9.858 * [backup-simplify]: Simplify phi2 into phi2 9.858 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.858 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.858 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1 9.858 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 9.858 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.858 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.858 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.858 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.858 * [backup-simplify]: Simplify 0.5 into 0.5 9.858 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.858 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.858 * [taylor]: Taking taylor expansion of phi1 in phi1 9.858 * [backup-simplify]: Simplify 0 into 0 9.859 * [backup-simplify]: Simplify 1 into 1 9.864 * [backup-simplify]: Simplify (/ 1 1) into 1 9.864 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.864 * [taylor]: Taking taylor expansion of phi2 in phi1 9.865 * [backup-simplify]: Simplify phi2 into phi2 9.865 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.866 * [backup-simplify]: Simplify (+ 1 0) into 1 9.866 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.866 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.866 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.866 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.866 * [backup-simplify]: Simplify lambda2 into lambda2 9.867 * [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) 9.867 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.867 * [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)) 9.867 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 9.867 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.867 * [taylor]: Taking taylor expansion of phi1 in phi1 9.868 * [backup-simplify]: Simplify 0 into 0 9.868 * [backup-simplify]: Simplify 1 into 1 9.868 * [backup-simplify]: Simplify (* 1 1) into 1 9.868 * [backup-simplify]: Simplify (/ 1 1) into 1 9.868 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 9.868 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 9.868 * [taylor]: Taking taylor expansion of 2 in phi1 9.869 * [backup-simplify]: Simplify 2 into 2 9.869 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 9.869 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.869 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.869 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.869 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.869 * [backup-simplify]: Simplify 0.5 into 0.5 9.869 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.869 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.869 * [taylor]: Taking taylor expansion of phi1 in phi1 9.869 * [backup-simplify]: Simplify 0 into 0 9.869 * [backup-simplify]: Simplify 1 into 1 9.869 * [backup-simplify]: Simplify (/ 1 1) into 1 9.869 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.869 * [taylor]: Taking taylor expansion of phi2 in phi1 9.869 * [backup-simplify]: Simplify phi2 into phi2 9.869 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.870 * [backup-simplify]: Simplify (+ 1 0) into 1 9.870 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.871 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.871 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.871 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.871 * [backup-simplify]: Simplify lambda2 into lambda2 9.871 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.871 * [backup-simplify]: Simplify lambda1 into lambda1 9.871 * [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) 9.871 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.871 * [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)) 9.871 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 9.872 * [taylor]: Taking taylor expansion of 2 in phi1 9.872 * [backup-simplify]: Simplify 2 into 2 9.872 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 9.872 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 9.872 * [taylor]: Taking taylor expansion of phi2 in phi1 9.872 * [backup-simplify]: Simplify phi2 into phi2 9.872 * [taylor]: Taking taylor expansion of phi1 in phi1 9.872 * [backup-simplify]: Simplify 0 into 0 9.872 * [backup-simplify]: Simplify 1 into 1 9.872 * [backup-simplify]: Simplify (* phi2 0) into 0 9.872 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 9.872 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.873 * [backup-simplify]: Simplify (+ 0 1) into 1 9.873 * [backup-simplify]: Simplify (+ 0 1) into 1 9.873 * [backup-simplify]: Simplify (+ 0 1) into 1 9.874 * [backup-simplify]: Simplify (+ 1 0) into 1 9.874 * [backup-simplify]: Simplify (sqrt 1) into 1 9.875 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.876 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.876 * [backup-simplify]: Simplify (+ 0 0) into 0 9.877 * [backup-simplify]: Simplify (+ 0 0) into 0 9.877 * [backup-simplify]: Simplify (+ 0 0) into 0 9.877 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 9.877 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 9.878 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 9.878 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 9.878 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 9.878 * [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 9.878 * [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 9.879 * [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 9.879 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 9.879 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 9.879 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.879 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.879 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.879 * [backup-simplify]: Simplify 0.5 into 0.5 9.879 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.879 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.879 * [taylor]: Taking taylor expansion of phi1 in phi2 9.879 * [backup-simplify]: Simplify phi1 into phi1 9.879 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.879 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.879 * [taylor]: Taking taylor expansion of phi2 in phi2 9.879 * [backup-simplify]: Simplify 0 into 0 9.879 * [backup-simplify]: Simplify 1 into 1 9.879 * [backup-simplify]: Simplify (/ 1 1) into 1 9.880 * [backup-simplify]: Simplify (+ 0 1) into 1 9.880 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.881 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.881 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 9.881 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.881 * [backup-simplify]: Simplify lambda1 into lambda1 9.881 * [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) 9.881 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.882 * [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)) 9.882 * [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 9.882 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 9.882 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 9.882 * [taylor]: Taking taylor expansion of phi2 in phi2 9.882 * [backup-simplify]: Simplify 0 into 0 9.882 * [backup-simplify]: Simplify 1 into 1 9.882 * [backup-simplify]: Simplify (* 1 1) into 1 9.883 * [backup-simplify]: Simplify (/ 1 1) into 1 9.883 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2 9.883 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 9.883 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 9.883 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.883 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.883 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.883 * [backup-simplify]: Simplify 0.5 into 0.5 9.883 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.883 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.883 * [taylor]: Taking taylor expansion of phi1 in phi2 9.883 * [backup-simplify]: Simplify phi1 into phi1 9.883 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.883 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.883 * [taylor]: Taking taylor expansion of phi2 in phi2 9.883 * [backup-simplify]: Simplify 0 into 0 9.883 * [backup-simplify]: Simplify 1 into 1 9.884 * [backup-simplify]: Simplify (/ 1 1) into 1 9.884 * [backup-simplify]: Simplify (+ 0 1) into 1 9.884 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.885 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.885 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 9.885 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.885 * [backup-simplify]: Simplify lambda2 into lambda2 9.885 * [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) 9.885 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.886 * [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)) 9.886 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 9.886 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 9.886 * [taylor]: Taking taylor expansion of phi1 in phi2 9.886 * [backup-simplify]: Simplify phi1 into phi1 9.886 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.886 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.886 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 9.886 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 9.886 * [taylor]: Taking taylor expansion of 2 in phi2 9.886 * [backup-simplify]: Simplify 2 into 2 9.886 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 9.886 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 9.886 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.886 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.886 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.886 * [backup-simplify]: Simplify 0.5 into 0.5 9.886 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.886 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.886 * [taylor]: Taking taylor expansion of phi1 in phi2 9.886 * [backup-simplify]: Simplify phi1 into phi1 9.887 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.887 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.887 * [taylor]: Taking taylor expansion of phi2 in phi2 9.887 * [backup-simplify]: Simplify 0 into 0 9.887 * [backup-simplify]: Simplify 1 into 1 9.887 * [backup-simplify]: Simplify (/ 1 1) into 1 9.887 * [backup-simplify]: Simplify (+ 0 1) into 1 9.888 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.888 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.888 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 9.888 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.888 * [backup-simplify]: Simplify lambda2 into lambda2 9.888 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.888 * [backup-simplify]: Simplify lambda1 into lambda1 9.889 * [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) 9.889 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.889 * [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)) 9.889 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 9.889 * [taylor]: Taking taylor expansion of 2 in phi2 9.889 * [backup-simplify]: Simplify 2 into 2 9.889 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 9.889 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 9.889 * [taylor]: Taking taylor expansion of phi2 in phi2 9.889 * [backup-simplify]: Simplify 0 into 0 9.889 * [backup-simplify]: Simplify 1 into 1 9.889 * [taylor]: Taking taylor expansion of phi1 in phi2 9.889 * [backup-simplify]: Simplify phi1 into phi1 9.889 * [backup-simplify]: Simplify (* 0 phi1) into 0 9.890 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 9.890 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.890 * [backup-simplify]: Simplify (+ 1 0) into 1 9.891 * [backup-simplify]: Simplify (+ 0 1) into 1 9.891 * [backup-simplify]: Simplify (+ 1 0) into 1 9.892 * [backup-simplify]: Simplify (sqrt 1) into 1 9.892 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.893 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.894 * [backup-simplify]: Simplify (+ 0 0) into 0 9.894 * [backup-simplify]: Simplify (+ 0 0) into 0 9.894 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 9.894 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 9.894 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 9.894 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 9.895 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 9.895 * [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 9.895 * [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 9.895 * [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 9.895 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 9.895 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 9.895 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.895 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.895 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.895 * [backup-simplify]: Simplify 0.5 into 0.5 9.895 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.896 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.896 * [taylor]: Taking taylor expansion of phi1 in phi2 9.896 * [backup-simplify]: Simplify phi1 into phi1 9.896 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.896 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.896 * [taylor]: Taking taylor expansion of phi2 in phi2 9.896 * [backup-simplify]: Simplify 0 into 0 9.896 * [backup-simplify]: Simplify 1 into 1 9.896 * [backup-simplify]: Simplify (/ 1 1) into 1 9.896 * [backup-simplify]: Simplify (+ 0 1) into 1 9.896 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.897 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.897 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 9.897 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.897 * [backup-simplify]: Simplify lambda1 into lambda1 9.897 * [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) 9.897 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.897 * [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)) 9.897 * [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 9.897 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 9.897 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 9.897 * [taylor]: Taking taylor expansion of phi2 in phi2 9.897 * [backup-simplify]: Simplify 0 into 0 9.897 * [backup-simplify]: Simplify 1 into 1 9.897 * [backup-simplify]: Simplify (* 1 1) into 1 9.898 * [backup-simplify]: Simplify (/ 1 1) into 1 9.898 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2 9.898 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 9.898 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 9.898 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.898 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.898 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.898 * [backup-simplify]: Simplify 0.5 into 0.5 9.898 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.898 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.898 * [taylor]: Taking taylor expansion of phi1 in phi2 9.898 * [backup-simplify]: Simplify phi1 into phi1 9.898 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.898 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.898 * [taylor]: Taking taylor expansion of phi2 in phi2 9.898 * [backup-simplify]: Simplify 0 into 0 9.898 * [backup-simplify]: Simplify 1 into 1 9.898 * [backup-simplify]: Simplify (/ 1 1) into 1 9.899 * [backup-simplify]: Simplify (+ 0 1) into 1 9.899 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.899 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.899 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 9.899 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.899 * [backup-simplify]: Simplify lambda2 into lambda2 9.899 * [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) 9.899 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.899 * [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)) 9.899 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 9.900 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 9.900 * [taylor]: Taking taylor expansion of phi1 in phi2 9.900 * [backup-simplify]: Simplify phi1 into phi1 9.900 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.900 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.900 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 9.900 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 9.900 * [taylor]: Taking taylor expansion of 2 in phi2 9.900 * [backup-simplify]: Simplify 2 into 2 9.900 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 9.900 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 9.900 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.900 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.900 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.900 * [backup-simplify]: Simplify 0.5 into 0.5 9.900 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.900 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.900 * [taylor]: Taking taylor expansion of phi1 in phi2 9.900 * [backup-simplify]: Simplify phi1 into phi1 9.900 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.900 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.900 * [taylor]: Taking taylor expansion of phi2 in phi2 9.900 * [backup-simplify]: Simplify 0 into 0 9.900 * [backup-simplify]: Simplify 1 into 1 9.900 * [backup-simplify]: Simplify (/ 1 1) into 1 9.901 * [backup-simplify]: Simplify (+ 0 1) into 1 9.901 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.901 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.901 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 9.901 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.901 * [backup-simplify]: Simplify lambda2 into lambda2 9.901 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.901 * [backup-simplify]: Simplify lambda1 into lambda1 9.901 * [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) 9.901 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.902 * [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)) 9.902 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 9.902 * [taylor]: Taking taylor expansion of 2 in phi2 9.902 * [backup-simplify]: Simplify 2 into 2 9.902 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 9.902 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 9.902 * [taylor]: Taking taylor expansion of phi2 in phi2 9.902 * [backup-simplify]: Simplify 0 into 0 9.902 * [backup-simplify]: Simplify 1 into 1 9.902 * [taylor]: Taking taylor expansion of phi1 in phi2 9.902 * [backup-simplify]: Simplify phi1 into phi1 9.902 * [backup-simplify]: Simplify (* 0 phi1) into 0 9.902 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 9.902 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.902 * [backup-simplify]: Simplify (+ 1 0) into 1 9.903 * [backup-simplify]: Simplify (+ 0 1) into 1 9.903 * [backup-simplify]: Simplify (+ 1 0) into 1 9.903 * [backup-simplify]: Simplify (sqrt 1) into 1 9.904 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.904 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.904 * [backup-simplify]: Simplify (+ 0 0) into 0 9.904 * [backup-simplify]: Simplify (+ 0 0) into 0 9.905 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 9.905 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 9.905 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 9.905 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 9.905 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 9.905 * [taylor]: Taking taylor expansion of 1 in phi1 9.905 * [backup-simplify]: Simplify 1 into 1 9.905 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 9.905 * [taylor]: Taking taylor expansion of -1 in phi1 9.905 * [backup-simplify]: Simplify -1 into -1 9.905 * [taylor]: Taking taylor expansion of phi1 in phi1 9.905 * [backup-simplify]: Simplify 0 into 0 9.905 * [backup-simplify]: Simplify 1 into 1 9.906 * [backup-simplify]: Simplify (/ -1 1) into -1 9.906 * [taylor]: Taking taylor expansion of -1 in lambda1 9.906 * [backup-simplify]: Simplify -1 into -1 9.906 * [taylor]: Taking taylor expansion of 1 in lambda1 9.906 * [backup-simplify]: Simplify 1 into 1 9.906 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 9.907 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.907 * [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))) 9.908 * [backup-simplify]: Simplify (+ 0 (+ (/ (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))) 9.908 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (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 lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 9.908 * [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))) 9.909 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 9.909 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.909 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 9.910 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 9.910 * [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)))) 9.911 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 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))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 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)))) 9.912 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 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)))) (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 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 9.912 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 9.912 * [taylor]: Taking taylor expansion of 1/2 in phi1 9.912 * [backup-simplify]: Simplify 1/2 into 1/2 9.912 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 9.912 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) in phi1 9.912 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 9.913 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.913 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.913 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.913 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.913 * [backup-simplify]: Simplify 0.5 into 0.5 9.913 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.913 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.913 * [taylor]: Taking taylor expansion of phi1 in phi1 9.913 * [backup-simplify]: Simplify 0 into 0 9.913 * [backup-simplify]: Simplify 1 into 1 9.913 * [backup-simplify]: Simplify (/ 1 1) into 1 9.913 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.913 * [taylor]: Taking taylor expansion of phi2 in phi1 9.913 * [backup-simplify]: Simplify phi2 into phi2 9.913 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.913 * [backup-simplify]: Simplify (+ 1 0) into 1 9.914 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.914 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.914 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.914 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.914 * [backup-simplify]: Simplify lambda1 into lambda1 9.914 * [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) 9.914 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.914 * [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)) 9.914 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 9.914 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.914 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.914 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.914 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.914 * [backup-simplify]: Simplify 0.5 into 0.5 9.914 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.914 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.914 * [taylor]: Taking taylor expansion of phi1 in phi1 9.914 * [backup-simplify]: Simplify 0 into 0 9.914 * [backup-simplify]: Simplify 1 into 1 9.915 * [backup-simplify]: Simplify (/ 1 1) into 1 9.915 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.915 * [taylor]: Taking taylor expansion of phi2 in phi1 9.915 * [backup-simplify]: Simplify phi2 into phi2 9.915 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.915 * [backup-simplify]: Simplify (+ 1 0) into 1 9.915 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.915 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.915 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.915 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.916 * [backup-simplify]: Simplify lambda2 into lambda2 9.916 * [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) 9.916 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.916 * [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)) 9.916 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 9.916 * [taylor]: Taking taylor expansion of 2 in phi1 9.916 * [backup-simplify]: Simplify 2 into 2 9.916 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 9.916 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.916 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.916 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.916 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.916 * [backup-simplify]: Simplify 0.5 into 0.5 9.916 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.916 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.916 * [taylor]: Taking taylor expansion of phi1 in phi1 9.916 * [backup-simplify]: Simplify 0 into 0 9.916 * [backup-simplify]: Simplify 1 into 1 9.916 * [backup-simplify]: Simplify (/ 1 1) into 1 9.916 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.917 * [taylor]: Taking taylor expansion of phi2 in phi1 9.917 * [backup-simplify]: Simplify phi2 into phi2 9.917 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.917 * [backup-simplify]: Simplify (+ 1 0) into 1 9.917 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.917 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.917 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.917 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.917 * [backup-simplify]: Simplify lambda2 into lambda2 9.917 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.917 * [backup-simplify]: Simplify lambda1 into lambda1 9.918 * [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) 9.918 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.918 * [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)) 9.918 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)))) into 0 9.918 * [taylor]: Taking taylor expansion of 0 in lambda1 9.918 * [backup-simplify]: Simplify 0 into 0 9.918 * [taylor]: Taking taylor expansion of 0 in lambda1 9.918 * [backup-simplify]: Simplify 0 into 0 9.918 * [taylor]: Taking taylor expansion of -1 in lambda2 9.918 * [backup-simplify]: Simplify -1 into -1 9.918 * [taylor]: Taking taylor expansion of 1 in lambda2 9.918 * [backup-simplify]: Simplify 1 into 1 9.919 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.919 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.919 * [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 9.920 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 9.920 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.921 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.921 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.921 * [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 9.921 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.921 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 9.921 * [backup-simplify]: Simplify (+ 0 0) into 0 9.922 * [backup-simplify]: Simplify (+ 0 0) into 0 9.922 * [backup-simplify]: Simplify (+ 0 0) into 0 9.922 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.922 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 9.923 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 9.923 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 9.924 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 phi1)))) into 0 9.924 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.924 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ 1 phi1)))) into 0 9.925 * [backup-simplify]: Simplify (+ 0 0) into 0 9.925 * [backup-simplify]: Simplify (- 0) into 0 9.925 * [backup-simplify]: Simplify (+ 0 0) into 0 9.927 * [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 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) (* 2 1)) into (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi1 (pow lambda1 2))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda2 2) phi1))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))))) 9.927 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi1 (pow lambda1 2))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda2 2) phi1))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))))) in phi1 9.927 * [taylor]: Taking taylor expansion of 1/2 in phi1 9.927 * [backup-simplify]: Simplify 1/2 into 1/2 9.927 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi1 (pow lambda1 2))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda2 2) phi1))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1))))) in phi1 9.927 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi1 (pow lambda1 2))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda2 2) phi1))) in phi1 9.927 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi1 (pow lambda1 2))) in phi1 9.927 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.927 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.927 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.927 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.927 * [backup-simplify]: Simplify 0.5 into 0.5 9.927 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.927 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.927 * [taylor]: Taking taylor expansion of phi1 in phi1 9.927 * [backup-simplify]: Simplify 0 into 0 9.927 * [backup-simplify]: Simplify 1 into 1 9.927 * [backup-simplify]: Simplify (/ 1 1) into 1 9.927 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.927 * [taylor]: Taking taylor expansion of phi2 in phi1 9.927 * [backup-simplify]: Simplify phi2 into phi2 9.927 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.928 * [backup-simplify]: Simplify (+ 1 0) into 1 9.928 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.928 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.928 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 9.928 * [taylor]: Taking taylor expansion of phi1 in phi1 9.928 * [backup-simplify]: Simplify 0 into 0 9.928 * [backup-simplify]: Simplify 1 into 1 9.928 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.928 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.928 * [backup-simplify]: Simplify lambda1 into lambda1 9.929 * [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) 9.929 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.929 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 9.929 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.929 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 9.929 * [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)) 9.929 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda2 2) phi1)) in phi1 9.929 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.929 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.929 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.929 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.929 * [backup-simplify]: Simplify 0.5 into 0.5 9.929 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.929 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.929 * [taylor]: Taking taylor expansion of phi1 in phi1 9.930 * [backup-simplify]: Simplify 0 into 0 9.930 * [backup-simplify]: Simplify 1 into 1 9.930 * [backup-simplify]: Simplify (/ 1 1) into 1 9.930 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.930 * [taylor]: Taking taylor expansion of phi2 in phi1 9.930 * [backup-simplify]: Simplify phi2 into phi2 9.930 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.930 * [backup-simplify]: Simplify (+ 1 0) into 1 9.930 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.931 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.931 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 9.931 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.931 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.931 * [backup-simplify]: Simplify lambda2 into lambda2 9.931 * [taylor]: Taking taylor expansion of phi1 in phi1 9.931 * [backup-simplify]: Simplify 0 into 0 9.931 * [backup-simplify]: Simplify 1 into 1 9.931 * [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) 9.931 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.931 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 9.931 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.931 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 9.932 * [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)) 9.932 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) in phi1 9.932 * [taylor]: Taking taylor expansion of 2 in phi1 9.932 * [backup-simplify]: Simplify 2 into 2 9.932 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1))) in phi1 9.932 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.932 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.932 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.932 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.932 * [backup-simplify]: Simplify 0.5 into 0.5 9.932 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.932 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.932 * [taylor]: Taking taylor expansion of phi1 in phi1 9.932 * [backup-simplify]: Simplify 0 into 0 9.932 * [backup-simplify]: Simplify 1 into 1 9.933 * [backup-simplify]: Simplify (/ 1 1) into 1 9.933 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.933 * [taylor]: Taking taylor expansion of phi2 in phi1 9.933 * [backup-simplify]: Simplify phi2 into phi2 9.933 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.933 * [backup-simplify]: Simplify (+ 1 0) into 1 9.934 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.934 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.934 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 lambda1)) in phi1 9.934 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.934 * [backup-simplify]: Simplify lambda2 into lambda2 9.934 * [taylor]: Taking taylor expansion of (* phi1 lambda1) in phi1 9.934 * [taylor]: Taking taylor expansion of phi1 in phi1 9.934 * [backup-simplify]: Simplify 0 into 0 9.934 * [backup-simplify]: Simplify 1 into 1 9.934 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.934 * [backup-simplify]: Simplify lambda1 into lambda1 9.935 * [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) 9.935 * [backup-simplify]: Simplify (* 0 lambda1) into 0 9.935 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.935 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 9.936 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 9.936 * [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)) 9.937 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) 9.937 * [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))) 9.938 * [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)))) 9.939 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (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 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 9.941 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 9.941 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 9.941 * [taylor]: Taking taylor expansion of 1/2 in lambda1 9.941 * [backup-simplify]: Simplify 1/2 into 1/2 9.941 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 9.941 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) in lambda1 9.941 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 9.941 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.941 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.941 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.941 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.941 * [backup-simplify]: Simplify 0.5 into 0.5 9.941 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.941 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.941 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.941 * [backup-simplify]: Simplify phi1 into phi1 9.942 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.942 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.942 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.942 * [backup-simplify]: Simplify phi2 into phi2 9.942 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.942 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.942 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.942 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.942 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.943 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.943 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.943 * [backup-simplify]: Simplify (- 0) into 0 9.944 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.944 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.944 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.944 * [backup-simplify]: Simplify 0 into 0 9.944 * [backup-simplify]: Simplify 1 into 1 9.944 * [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) 9.945 * [backup-simplify]: Simplify (* 1 1) into 1 9.945 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.945 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 9.945 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.945 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.945 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.945 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.945 * [backup-simplify]: Simplify 0.5 into 0.5 9.945 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.945 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.945 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.945 * [backup-simplify]: Simplify phi1 into phi1 9.945 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.945 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.945 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.945 * [backup-simplify]: Simplify phi2 into phi2 9.945 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.946 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.946 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.946 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.946 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.946 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.947 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.947 * [backup-simplify]: Simplify (- 0) into 0 9.947 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.947 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.947 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.947 * [backup-simplify]: Simplify lambda2 into lambda2 9.948 * [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) 9.948 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.948 * [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)) 9.948 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 9.948 * [taylor]: Taking taylor expansion of 2 in lambda1 9.948 * [backup-simplify]: Simplify 2 into 2 9.948 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 9.948 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.948 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.948 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.948 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.948 * [backup-simplify]: Simplify 0.5 into 0.5 9.949 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.949 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.949 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.949 * [backup-simplify]: Simplify phi1 into phi1 9.949 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.949 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.949 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.949 * [backup-simplify]: Simplify phi2 into phi2 9.949 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.949 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.949 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.949 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.949 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.950 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.950 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.950 * [backup-simplify]: Simplify (- 0) into 0 9.951 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.951 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.951 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.951 * [backup-simplify]: Simplify lambda2 into lambda2 9.951 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.951 * [backup-simplify]: Simplify 0 into 0 9.951 * [backup-simplify]: Simplify 1 into 1 9.951 * [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) 9.951 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.952 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 9.952 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 9.953 * [backup-simplify]: Simplify (+ 0) into 0 9.953 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.953 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.953 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.954 * [backup-simplify]: Simplify (+ 0 0) into 0 9.954 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.956 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.956 * [backup-simplify]: Simplify (- 0) into 0 9.956 * [backup-simplify]: Simplify (+ 0 0) into 0 9.957 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.958 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.959 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 9.959 * [backup-simplify]: Simplify (+ 0 0) into 0 9.959 * [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)) 9.960 * [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))) 9.960 * [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))) 9.961 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.961 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.962 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 9.962 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 9.962 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 9.962 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 9.962 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.962 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.962 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.962 * [backup-simplify]: Simplify 0.5 into 0.5 9.962 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.962 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.962 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.962 * [backup-simplify]: Simplify phi1 into phi1 9.962 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.962 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.962 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.962 * [backup-simplify]: Simplify phi2 into phi2 9.962 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.963 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.963 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.963 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.963 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.963 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.964 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.964 * [backup-simplify]: Simplify (- 0) into 0 9.964 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.964 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.964 * [backup-simplify]: Simplify 0 into 0 9.964 * [backup-simplify]: Simplify 1 into 1 9.965 * [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) 9.965 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.965 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 9.966 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 9.966 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) 9.967 * [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))) 9.967 * [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)))) 9.969 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (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 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 9.970 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 9.970 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 9.970 * [taylor]: Taking taylor expansion of 1/2 in lambda1 9.970 * [backup-simplify]: Simplify 1/2 into 1/2 9.970 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 9.970 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) in lambda1 9.970 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 9.970 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.970 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.970 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.970 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.970 * [backup-simplify]: Simplify 0.5 into 0.5 9.971 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.971 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.971 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.971 * [backup-simplify]: Simplify phi1 into phi1 9.971 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.971 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.971 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.971 * [backup-simplify]: Simplify phi2 into phi2 9.971 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.971 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.971 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.971 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.971 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.972 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.972 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.972 * [backup-simplify]: Simplify (- 0) into 0 9.973 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.973 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.973 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.973 * [backup-simplify]: Simplify 0 into 0 9.973 * [backup-simplify]: Simplify 1 into 1 9.973 * [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) 9.974 * [backup-simplify]: Simplify (* 1 1) into 1 9.974 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.974 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 9.974 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.974 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.974 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.974 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.974 * [backup-simplify]: Simplify 0.5 into 0.5 9.974 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.974 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.974 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.974 * [backup-simplify]: Simplify phi1 into phi1 9.974 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.974 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.974 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.974 * [backup-simplify]: Simplify phi2 into phi2 9.974 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.975 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.975 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.975 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.975 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.975 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.975 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.976 * [backup-simplify]: Simplify (- 0) into 0 9.976 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.976 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.976 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.976 * [backup-simplify]: Simplify lambda2 into lambda2 9.977 * [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) 9.977 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.977 * [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)) 9.977 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 9.977 * [taylor]: Taking taylor expansion of 2 in lambda1 9.977 * [backup-simplify]: Simplify 2 into 2 9.977 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 9.977 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.977 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.977 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.977 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.977 * [backup-simplify]: Simplify 0.5 into 0.5 9.977 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.977 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.978 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.978 * [backup-simplify]: Simplify phi1 into phi1 9.978 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.978 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.978 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.978 * [backup-simplify]: Simplify phi2 into phi2 9.978 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.978 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.978 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.979 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.979 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.979 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.979 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.980 * [backup-simplify]: Simplify (- 0) into 0 9.980 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.980 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.980 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.980 * [backup-simplify]: Simplify lambda2 into lambda2 9.980 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.980 * [backup-simplify]: Simplify 0 into 0 9.980 * [backup-simplify]: Simplify 1 into 1 9.980 * [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) 9.981 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.981 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 9.981 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 9.982 * [backup-simplify]: Simplify (+ 0) into 0 9.982 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.983 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.983 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.983 * [backup-simplify]: Simplify (+ 0 0) into 0 9.984 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.985 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.985 * [backup-simplify]: Simplify (- 0) into 0 9.986 * [backup-simplify]: Simplify (+ 0 0) into 0 9.986 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.987 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.988 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 9.989 * [backup-simplify]: Simplify (+ 0 0) into 0 9.989 * [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)) 9.989 * [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))) 9.990 * [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))) 9.990 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.991 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.991 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 9.991 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 9.991 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 9.991 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 9.992 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.992 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.992 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.992 * [backup-simplify]: Simplify 0.5 into 0.5 9.992 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.992 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.992 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.992 * [backup-simplify]: Simplify phi1 into phi1 9.992 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.992 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.992 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.992 * [backup-simplify]: Simplify phi2 into phi2 9.992 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.992 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.992 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.992 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.993 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.993 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.993 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.994 * [backup-simplify]: Simplify (- 0) into 0 9.994 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.994 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.994 * [backup-simplify]: Simplify 0 into 0 9.994 * [backup-simplify]: Simplify 1 into 1 9.994 * [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) 9.995 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.995 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 9.995 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 9.996 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.996 * [taylor]: Taking taylor expansion of 0 in lambda1 9.996 * [backup-simplify]: Simplify 0 into 0 9.996 * [taylor]: Taking taylor expansion of 0 in lambda1 9.996 * [backup-simplify]: Simplify 0 into 0 9.997 * [taylor]: Taking taylor expansion of 0 in lambda2 9.997 * [backup-simplify]: Simplify 0 into 0 9.997 * [taylor]: Taking taylor expansion of 0 in lambda2 9.997 * [backup-simplify]: Simplify 0 into 0 9.997 * [taylor]: Taking taylor expansion of 0 in lambda2 9.997 * [backup-simplify]: Simplify 0 into 0 9.997 * [taylor]: Taking taylor expansion of 0 in lambda2 9.997 * [backup-simplify]: Simplify 0 into 0 9.997 * [backup-simplify]: Simplify -1 into -1 9.999 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* (/ 1 (/ 1 phi1)) 1)))) (+ (* (- (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2)) (* (/ 1 (/ 1 lambda2)) (* (/ 1 (/ 1 lambda1)) (* 1 (/ 1 phi2))))) (* (- (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2)) (* (/ 1 (/ 1 lambda2)) (* (/ 1 (/ 1 lambda1)) (* (/ 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))) 10.001 * [backup-simplify]: Simplify (sqrt (+ (- (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (+ (pow (/ 1 (- lambda1)) 2) (pow (/ 1 (- lambda2)) 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)))))) 10.001 * [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 (phi2 phi1 lambda1 lambda2) around 0 10.001 * [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 10.001 * [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 10.001 * [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 10.001 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 10.002 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 10.002 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.002 * [backup-simplify]: Simplify phi2 into phi2 10.002 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.002 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 10.002 * [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 10.002 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 10.002 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.002 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.002 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.002 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.002 * [backup-simplify]: Simplify -0.5 into -0.5 10.002 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.002 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.002 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.002 * [backup-simplify]: Simplify phi1 into phi1 10.002 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.002 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.002 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.002 * [backup-simplify]: Simplify phi2 into phi2 10.002 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.002 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.003 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.003 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.003 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.003 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.003 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.004 * [backup-simplify]: Simplify (- 0) into 0 10.004 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.004 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.004 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.004 * [backup-simplify]: Simplify 0 into 0 10.004 * [backup-simplify]: Simplify 1 into 1 10.004 * [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) 10.005 * [backup-simplify]: Simplify (* 1 1) into 1 10.005 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.005 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2 10.005 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 10.005 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.005 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.005 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.006 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.006 * [backup-simplify]: Simplify -0.5 into -0.5 10.006 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.006 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.006 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.006 * [backup-simplify]: Simplify phi1 into phi1 10.006 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.006 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.006 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.006 * [backup-simplify]: Simplify phi2 into phi2 10.006 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.006 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.006 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.006 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.007 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.007 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.007 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.007 * [backup-simplify]: Simplify (- 0) into 0 10.008 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.008 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 10.008 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.008 * [backup-simplify]: Simplify lambda1 into lambda1 10.008 * [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) 10.008 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.009 * [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)) 10.009 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 10.009 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 10.009 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.009 * [backup-simplify]: Simplify phi1 into phi1 10.009 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.009 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.009 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 10.009 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 10.009 * [taylor]: Taking taylor expansion of 2 in lambda2 10.009 * [backup-simplify]: Simplify 2 into 2 10.009 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 10.009 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.009 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.009 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.009 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.009 * [backup-simplify]: Simplify -0.5 into -0.5 10.009 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.009 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.010 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.010 * [backup-simplify]: Simplify phi1 into phi1 10.010 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.010 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.010 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.010 * [backup-simplify]: Simplify phi2 into phi2 10.010 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.010 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.010 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.010 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.010 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.011 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.011 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.011 * [backup-simplify]: Simplify (- 0) into 0 10.012 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.012 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 10.012 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.012 * [backup-simplify]: Simplify 0 into 0 10.012 * [backup-simplify]: Simplify 1 into 1 10.012 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.012 * [backup-simplify]: Simplify lambda1 into lambda1 10.012 * [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) 10.012 * [backup-simplify]: Simplify (* 0 lambda1) into 0 10.013 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 10.013 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 10.013 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 10.013 * [taylor]: Taking taylor expansion of 2 in lambda2 10.013 * [backup-simplify]: Simplify 2 into 2 10.013 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 10.013 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 10.013 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.013 * [backup-simplify]: Simplify phi2 into phi2 10.013 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.013 * [backup-simplify]: Simplify phi1 into phi1 10.013 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 10.014 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 10.014 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.014 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.014 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.015 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.020 * [backup-simplify]: Simplify (+ 0) into 0 10.021 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.021 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.022 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.022 * [backup-simplify]: Simplify (+ 0 0) into 0 10.023 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.023 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.024 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.024 * [backup-simplify]: Simplify (- 0) into 0 10.025 * [backup-simplify]: Simplify (+ 0 0) into 0 10.025 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.026 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.027 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 10.027 * [backup-simplify]: Simplify (+ 0 0) into 0 10.028 * [backup-simplify]: Simplify (+ 0 0) into 0 10.028 * [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)) 10.029 * [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)) 10.029 * [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))) 10.030 * [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))) 10.030 * [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)) 10.030 * [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 10.030 * [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 10.030 * [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 10.031 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 10.031 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 10.031 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.031 * [backup-simplify]: Simplify phi2 into phi2 10.031 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.031 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 10.031 * [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 10.031 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 10.031 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.031 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.031 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.031 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.031 * [backup-simplify]: Simplify -0.5 into -0.5 10.031 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.031 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.031 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.031 * [backup-simplify]: Simplify phi1 into phi1 10.031 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.031 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.031 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.031 * [backup-simplify]: Simplify phi2 into phi2 10.031 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.032 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.032 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.032 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.032 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.032 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.032 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.033 * [backup-simplify]: Simplify (- 0) into 0 10.033 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.033 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 10.033 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.033 * [backup-simplify]: Simplify lambda2 into lambda2 10.034 * [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) 10.034 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.034 * [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)) 10.034 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 10.034 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 10.034 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.034 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.034 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.034 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.034 * [backup-simplify]: Simplify -0.5 into -0.5 10.034 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.034 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.034 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.034 * [backup-simplify]: Simplify phi1 into phi1 10.034 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.034 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.034 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.034 * [backup-simplify]: Simplify phi2 into phi2 10.035 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.035 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.035 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.035 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.035 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.035 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.036 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.036 * [backup-simplify]: Simplify (- 0) into 0 10.036 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.036 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 10.036 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.036 * [backup-simplify]: Simplify 0 into 0 10.036 * [backup-simplify]: Simplify 1 into 1 10.037 * [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) 10.037 * [backup-simplify]: Simplify (* 1 1) into 1 10.037 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.038 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 10.038 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 10.038 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.038 * [backup-simplify]: Simplify phi1 into phi1 10.038 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.038 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.038 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 10.038 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 10.038 * [taylor]: Taking taylor expansion of 2 in lambda1 10.038 * [backup-simplify]: Simplify 2 into 2 10.038 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 10.038 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.038 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.038 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.038 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.038 * [backup-simplify]: Simplify -0.5 into -0.5 10.038 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.038 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.038 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.038 * [backup-simplify]: Simplify phi1 into phi1 10.038 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.038 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.038 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.038 * [backup-simplify]: Simplify phi2 into phi2 10.038 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.039 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.039 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.039 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.039 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.039 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.040 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.040 * [backup-simplify]: Simplify (- 0) into 0 10.040 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.040 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 10.040 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.040 * [backup-simplify]: Simplify lambda2 into lambda2 10.040 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.040 * [backup-simplify]: Simplify 0 into 0 10.040 * [backup-simplify]: Simplify 1 into 1 10.041 * [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) 10.041 * [backup-simplify]: Simplify (* lambda2 0) into 0 10.041 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 10.042 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 10.042 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 10.042 * [taylor]: Taking taylor expansion of 2 in lambda1 10.042 * [backup-simplify]: Simplify 2 into 2 10.042 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 10.042 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 10.042 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.042 * [backup-simplify]: Simplify phi2 into phi2 10.042 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.042 * [backup-simplify]: Simplify phi1 into phi1 10.042 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 10.042 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 10.042 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.043 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.043 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.043 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.044 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.044 * [backup-simplify]: Simplify (+ 0) into 0 10.045 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.045 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.045 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.045 * [backup-simplify]: Simplify (+ 0 0) into 0 10.046 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.047 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.048 * [backup-simplify]: Simplify (- 0) into 0 10.048 * [backup-simplify]: Simplify (+ 0 0) into 0 10.049 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.049 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.050 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 10.051 * [backup-simplify]: Simplify (+ 0 0) into 0 10.051 * [backup-simplify]: Simplify (+ 0 0) into 0 10.052 * [backup-simplify]: Simplify (+ 0 0) into 0 10.052 * [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)) 10.052 * [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)) 10.053 * [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))) 10.053 * [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))) 10.054 * [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)) 10.054 * [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 10.054 * [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 10.054 * [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 10.054 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 10.054 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 10.054 * [taylor]: Taking taylor expansion of phi2 in phi1 10.054 * [backup-simplify]: Simplify phi2 into phi2 10.054 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.055 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 10.055 * [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 10.055 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 10.055 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.055 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.055 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.055 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.055 * [backup-simplify]: Simplify -0.5 into -0.5 10.055 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.055 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.055 * [taylor]: Taking taylor expansion of phi1 in phi1 10.055 * [backup-simplify]: Simplify 0 into 0 10.055 * [backup-simplify]: Simplify 1 into 1 10.055 * [backup-simplify]: Simplify (/ 1 1) into 1 10.055 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.055 * [taylor]: Taking taylor expansion of phi2 in phi1 10.056 * [backup-simplify]: Simplify phi2 into phi2 10.056 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.056 * [backup-simplify]: Simplify (+ 1 0) into 1 10.056 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.057 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.057 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 10.057 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.057 * [backup-simplify]: Simplify lambda2 into lambda2 10.057 * [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) 10.057 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.058 * [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)) 10.058 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1 10.058 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 10.058 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.058 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.058 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.058 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.058 * [backup-simplify]: Simplify -0.5 into -0.5 10.058 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.058 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.058 * [taylor]: Taking taylor expansion of phi1 in phi1 10.058 * [backup-simplify]: Simplify 0 into 0 10.058 * [backup-simplify]: Simplify 1 into 1 10.058 * [backup-simplify]: Simplify (/ 1 1) into 1 10.058 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.058 * [taylor]: Taking taylor expansion of phi2 in phi1 10.058 * [backup-simplify]: Simplify phi2 into phi2 10.059 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.059 * [backup-simplify]: Simplify (+ 1 0) into 1 10.059 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.060 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.060 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 10.060 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.060 * [backup-simplify]: Simplify lambda1 into lambda1 10.060 * [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) 10.060 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.061 * [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)) 10.061 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 10.061 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 10.061 * [taylor]: Taking taylor expansion of phi1 in phi1 10.061 * [backup-simplify]: Simplify 0 into 0 10.061 * [backup-simplify]: Simplify 1 into 1 10.061 * [backup-simplify]: Simplify (* 1 1) into 1 10.061 * [backup-simplify]: Simplify (/ 1 1) into 1 10.061 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 10.061 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 10.062 * [taylor]: Taking taylor expansion of 2 in phi1 10.062 * [backup-simplify]: Simplify 2 into 2 10.062 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 10.062 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.062 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.062 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.062 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.062 * [backup-simplify]: Simplify -0.5 into -0.5 10.062 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.062 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.062 * [taylor]: Taking taylor expansion of phi1 in phi1 10.062 * [backup-simplify]: Simplify 0 into 0 10.062 * [backup-simplify]: Simplify 1 into 1 10.062 * [backup-simplify]: Simplify (/ 1 1) into 1 10.062 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.062 * [taylor]: Taking taylor expansion of phi2 in phi1 10.062 * [backup-simplify]: Simplify phi2 into phi2 10.062 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.063 * [backup-simplify]: Simplify (+ 1 0) into 1 10.063 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.063 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.063 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 10.064 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.064 * [backup-simplify]: Simplify lambda2 into lambda2 10.064 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.064 * [backup-simplify]: Simplify lambda1 into lambda1 10.064 * [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) 10.064 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.064 * [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)) 10.064 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 10.064 * [taylor]: Taking taylor expansion of 2 in phi1 10.065 * [backup-simplify]: Simplify 2 into 2 10.065 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 10.065 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 10.065 * [taylor]: Taking taylor expansion of phi2 in phi1 10.065 * [backup-simplify]: Simplify phi2 into phi2 10.065 * [taylor]: Taking taylor expansion of phi1 in phi1 10.065 * [backup-simplify]: Simplify 0 into 0 10.065 * [backup-simplify]: Simplify 1 into 1 10.065 * [backup-simplify]: Simplify (* phi2 0) into 0 10.065 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 10.065 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.066 * [backup-simplify]: Simplify (+ 0 1) into 1 10.066 * [backup-simplify]: Simplify (+ 0 1) into 1 10.067 * [backup-simplify]: Simplify (+ 0 1) into 1 10.067 * [backup-simplify]: Simplify (+ 1 0) into 1 10.067 * [backup-simplify]: Simplify (sqrt 1) into 1 10.068 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.069 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.069 * [backup-simplify]: Simplify (+ 0 0) into 0 10.069 * [backup-simplify]: Simplify (+ 0 0) into 0 10.070 * [backup-simplify]: Simplify (+ 0 0) into 0 10.070 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 10.070 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 10.070 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 10.070 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 10.071 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 10.071 * [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 10.071 * [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 10.071 * [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 10.071 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 10.071 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 10.071 * [taylor]: Taking taylor expansion of phi2 in phi2 10.071 * [backup-simplify]: Simplify 0 into 0 10.071 * [backup-simplify]: Simplify 1 into 1 10.071 * [backup-simplify]: Simplify (* 1 1) into 1 10.072 * [backup-simplify]: Simplify (/ 1 1) into 1 10.072 * [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 10.072 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 10.072 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.072 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.072 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.072 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.072 * [backup-simplify]: Simplify -0.5 into -0.5 10.072 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.072 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.072 * [taylor]: Taking taylor expansion of phi1 in phi2 10.072 * [backup-simplify]: Simplify phi1 into phi1 10.072 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.072 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.072 * [taylor]: Taking taylor expansion of phi2 in phi2 10.072 * [backup-simplify]: Simplify 0 into 0 10.072 * [backup-simplify]: Simplify 1 into 1 10.073 * [backup-simplify]: Simplify (/ 1 1) into 1 10.073 * [backup-simplify]: Simplify (+ 0 1) into 1 10.074 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.074 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.074 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 10.074 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.074 * [backup-simplify]: Simplify lambda2 into lambda2 10.074 * [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) 10.074 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.075 * [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)) 10.075 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 10.075 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 10.075 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.075 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.075 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.075 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.075 * [backup-simplify]: Simplify -0.5 into -0.5 10.075 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.075 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.075 * [taylor]: Taking taylor expansion of phi1 in phi2 10.075 * [backup-simplify]: Simplify phi1 into phi1 10.075 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.075 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.075 * [taylor]: Taking taylor expansion of phi2 in phi2 10.075 * [backup-simplify]: Simplify 0 into 0 10.075 * [backup-simplify]: Simplify 1 into 1 10.076 * [backup-simplify]: Simplify (/ 1 1) into 1 10.076 * [backup-simplify]: Simplify (+ 0 1) into 1 10.076 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.077 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.077 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 10.077 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.077 * [backup-simplify]: Simplify lambda1 into lambda1 10.077 * [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) 10.077 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.078 * [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)) 10.078 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 10.078 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 10.078 * [taylor]: Taking taylor expansion of phi1 in phi2 10.078 * [backup-simplify]: Simplify phi1 into phi1 10.078 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.078 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.078 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 10.078 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 10.078 * [taylor]: Taking taylor expansion of 2 in phi2 10.078 * [backup-simplify]: Simplify 2 into 2 10.078 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 10.078 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.078 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.078 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.078 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.078 * [backup-simplify]: Simplify -0.5 into -0.5 10.078 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.078 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.078 * [taylor]: Taking taylor expansion of phi1 in phi2 10.078 * [backup-simplify]: Simplify phi1 into phi1 10.078 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.078 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.079 * [taylor]: Taking taylor expansion of phi2 in phi2 10.079 * [backup-simplify]: Simplify 0 into 0 10.079 * [backup-simplify]: Simplify 1 into 1 10.079 * [backup-simplify]: Simplify (/ 1 1) into 1 10.079 * [backup-simplify]: Simplify (+ 0 1) into 1 10.080 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.080 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.080 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 10.080 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.081 * [backup-simplify]: Simplify lambda2 into lambda2 10.081 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.081 * [backup-simplify]: Simplify lambda1 into lambda1 10.081 * [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) 10.081 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.082 * [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)) 10.082 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 10.082 * [taylor]: Taking taylor expansion of 2 in phi2 10.082 * [backup-simplify]: Simplify 2 into 2 10.082 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 10.082 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 10.082 * [taylor]: Taking taylor expansion of phi2 in phi2 10.082 * [backup-simplify]: Simplify 0 into 0 10.082 * [backup-simplify]: Simplify 1 into 1 10.082 * [taylor]: Taking taylor expansion of phi1 in phi2 10.082 * [backup-simplify]: Simplify phi1 into phi1 10.082 * [backup-simplify]: Simplify (* 0 phi1) into 0 10.083 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 10.083 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.083 * [backup-simplify]: Simplify (+ 1 0) into 1 10.084 * [backup-simplify]: Simplify (+ 1 0) into 1 10.084 * [backup-simplify]: Simplify (sqrt 1) into 1 10.085 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.086 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.086 * [backup-simplify]: Simplify (+ 0 0) into 0 10.086 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 10.086 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 10.086 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 10.086 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 10.087 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 10.087 * [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 10.087 * [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 10.087 * [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 10.087 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 10.087 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 10.087 * [taylor]: Taking taylor expansion of phi2 in phi2 10.087 * [backup-simplify]: Simplify 0 into 0 10.087 * [backup-simplify]: Simplify 1 into 1 10.088 * [backup-simplify]: Simplify (* 1 1) into 1 10.088 * [backup-simplify]: Simplify (/ 1 1) into 1 10.088 * [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 10.088 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 10.088 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.089 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.089 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.089 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.089 * [backup-simplify]: Simplify -0.5 into -0.5 10.089 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.089 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.089 * [taylor]: Taking taylor expansion of phi1 in phi2 10.089 * [backup-simplify]: Simplify phi1 into phi1 10.089 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.089 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.089 * [taylor]: Taking taylor expansion of phi2 in phi2 10.089 * [backup-simplify]: Simplify 0 into 0 10.089 * [backup-simplify]: Simplify 1 into 1 10.089 * [backup-simplify]: Simplify (/ 1 1) into 1 10.090 * [backup-simplify]: Simplify (+ 0 1) into 1 10.090 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.091 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.091 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 10.091 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.091 * [backup-simplify]: Simplify lambda2 into lambda2 10.091 * [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) 10.092 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.092 * [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)) 10.092 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 10.092 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 10.092 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.092 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.092 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.092 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.092 * [backup-simplify]: Simplify -0.5 into -0.5 10.092 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.092 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.092 * [taylor]: Taking taylor expansion of phi1 in phi2 10.092 * [backup-simplify]: Simplify phi1 into phi1 10.092 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.092 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.093 * [taylor]: Taking taylor expansion of phi2 in phi2 10.093 * [backup-simplify]: Simplify 0 into 0 10.093 * [backup-simplify]: Simplify 1 into 1 10.093 * [backup-simplify]: Simplify (/ 1 1) into 1 10.093 * [backup-simplify]: Simplify (+ 0 1) into 1 10.094 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.094 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.094 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 10.094 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.094 * [backup-simplify]: Simplify lambda1 into lambda1 10.095 * [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) 10.095 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.095 * [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)) 10.095 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 10.095 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 10.095 * [taylor]: Taking taylor expansion of phi1 in phi2 10.095 * [backup-simplify]: Simplify phi1 into phi1 10.095 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.095 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.095 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 10.095 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 10.096 * [taylor]: Taking taylor expansion of 2 in phi2 10.096 * [backup-simplify]: Simplify 2 into 2 10.096 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 10.096 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.096 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.096 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.096 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.096 * [backup-simplify]: Simplify -0.5 into -0.5 10.096 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.096 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.096 * [taylor]: Taking taylor expansion of phi1 in phi2 10.096 * [backup-simplify]: Simplify phi1 into phi1 10.096 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.096 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.096 * [taylor]: Taking taylor expansion of phi2 in phi2 10.096 * [backup-simplify]: Simplify 0 into 0 10.096 * [backup-simplify]: Simplify 1 into 1 10.096 * [backup-simplify]: Simplify (/ 1 1) into 1 10.097 * [backup-simplify]: Simplify (+ 0 1) into 1 10.097 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.098 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.098 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 10.098 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.098 * [backup-simplify]: Simplify lambda2 into lambda2 10.098 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.098 * [backup-simplify]: Simplify lambda1 into lambda1 10.098 * [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) 10.098 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.099 * [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)) 10.099 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 10.099 * [taylor]: Taking taylor expansion of 2 in phi2 10.099 * [backup-simplify]: Simplify 2 into 2 10.099 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 10.099 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 10.099 * [taylor]: Taking taylor expansion of phi2 in phi2 10.099 * [backup-simplify]: Simplify 0 into 0 10.099 * [backup-simplify]: Simplify 1 into 1 10.099 * [taylor]: Taking taylor expansion of phi1 in phi2 10.099 * [backup-simplify]: Simplify phi1 into phi1 10.099 * [backup-simplify]: Simplify (* 0 phi1) into 0 10.099 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 10.099 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.100 * [backup-simplify]: Simplify (+ 1 0) into 1 10.100 * [backup-simplify]: Simplify (+ 1 0) into 1 10.101 * [backup-simplify]: Simplify (sqrt 1) into 1 10.101 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.102 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.102 * [backup-simplify]: Simplify (+ 0 0) into 0 10.102 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 10.103 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 10.103 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 10.103 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 10.103 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 10.104 * [taylor]: Taking taylor expansion of 1 in phi1 10.104 * [backup-simplify]: Simplify 1 into 1 10.104 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 10.104 * [taylor]: Taking taylor expansion of -1 in phi1 10.104 * [backup-simplify]: Simplify -1 into -1 10.104 * [taylor]: Taking taylor expansion of phi1 in phi1 10.104 * [backup-simplify]: Simplify 0 into 0 10.104 * [backup-simplify]: Simplify 1 into 1 10.104 * [backup-simplify]: Simplify (/ -1 1) into -1 10.104 * [taylor]: Taking taylor expansion of -1 in lambda1 10.104 * [backup-simplify]: Simplify -1 into -1 10.104 * [taylor]: Taking taylor expansion of 1 in lambda1 10.104 * [backup-simplify]: Simplify 1 into 1 10.105 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 10.106 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.107 * [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))) 10.108 * [backup-simplify]: Simplify (+ (/ (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)))) into (+ (/ (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)))) 10.109 * [backup-simplify]: Simplify (+ 0 (+ (/ (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))))) into (+ (/ (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)))) 10.109 * [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))) 10.110 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 10.110 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.111 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 10.111 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 10.112 * [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)))) 10.114 * [backup-simplify]: Simplify (+ (+ (/ (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))))) into (- (+ (/ (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)))) 10.116 * [backup-simplify]: Simplify (/ (- (- (+ (/ (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)))) (pow (/ -1 phi1) 2) (+)) (* 2 1)) into (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 10.117 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 10.117 * [taylor]: Taking taylor expansion of 1/2 in phi1 10.117 * [backup-simplify]: Simplify 1/2 into 1/2 10.117 * [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))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 10.117 * [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))) in phi1 10.117 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 10.117 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.117 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.117 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.117 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.117 * [backup-simplify]: Simplify -0.5 into -0.5 10.117 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.117 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.117 * [taylor]: Taking taylor expansion of phi1 in phi1 10.117 * [backup-simplify]: Simplify 0 into 0 10.117 * [backup-simplify]: Simplify 1 into 1 10.117 * [backup-simplify]: Simplify (/ 1 1) into 1 10.117 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.118 * [taylor]: Taking taylor expansion of phi2 in phi1 10.118 * [backup-simplify]: Simplify phi2 into phi2 10.118 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.118 * [backup-simplify]: Simplify (+ 1 0) into 1 10.119 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.119 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.119 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 10.119 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.119 * [backup-simplify]: Simplify lambda2 into lambda2 10.119 * [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) 10.119 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.120 * [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)) 10.120 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 10.120 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.120 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.120 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.120 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.120 * [backup-simplify]: Simplify -0.5 into -0.5 10.120 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.120 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.120 * [taylor]: Taking taylor expansion of phi1 in phi1 10.120 * [backup-simplify]: Simplify 0 into 0 10.120 * [backup-simplify]: Simplify 1 into 1 10.120 * [backup-simplify]: Simplify (/ 1 1) into 1 10.120 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.120 * [taylor]: Taking taylor expansion of phi2 in phi1 10.120 * [backup-simplify]: Simplify phi2 into phi2 10.121 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.121 * [backup-simplify]: Simplify (+ 1 0) into 1 10.121 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.122 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.122 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 10.122 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.122 * [backup-simplify]: Simplify lambda1 into lambda1 10.122 * [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) 10.122 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.122 * [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)) 10.123 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 10.123 * [taylor]: Taking taylor expansion of 2 in phi1 10.123 * [backup-simplify]: Simplify 2 into 2 10.123 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 10.123 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.123 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.123 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.123 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.123 * [backup-simplify]: Simplify -0.5 into -0.5 10.123 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.123 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.123 * [taylor]: Taking taylor expansion of phi1 in phi1 10.123 * [backup-simplify]: Simplify 0 into 0 10.123 * [backup-simplify]: Simplify 1 into 1 10.123 * [backup-simplify]: Simplify (/ 1 1) into 1 10.123 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.123 * [taylor]: Taking taylor expansion of phi2 in phi1 10.123 * [backup-simplify]: Simplify phi2 into phi2 10.123 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.124 * [backup-simplify]: Simplify (+ 1 0) into 1 10.124 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.125 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.125 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 10.125 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.125 * [backup-simplify]: Simplify lambda2 into lambda2 10.125 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.125 * [backup-simplify]: Simplify lambda1 into lambda1 10.125 * [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) 10.125 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.125 * [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)) 10.126 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)))) into 0 10.126 * [taylor]: Taking taylor expansion of 0 in lambda1 10.126 * [backup-simplify]: Simplify 0 into 0 10.127 * [taylor]: Taking taylor expansion of 0 in lambda1 10.127 * [backup-simplify]: Simplify 0 into 0 10.127 * [taylor]: Taking taylor expansion of -1 in lambda2 10.127 * [backup-simplify]: Simplify -1 into -1 10.127 * [taylor]: Taking taylor expansion of 1 in lambda2 10.127 * [backup-simplify]: Simplify 1 into 1 10.128 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 10.129 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.129 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.129 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 10.130 * [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 10.130 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.131 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 10.131 * [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 10.131 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 10.132 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 10.132 * [backup-simplify]: Simplify (+ 0 0) into 0 10.132 * [backup-simplify]: Simplify (+ 0 0) into 0 10.133 * [backup-simplify]: Simplify (+ 0 0) into 0 10.133 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.133 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 10.134 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 10.135 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 10.136 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 phi1)))) into 0 10.136 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.137 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ 1 phi1)))) into 0 10.137 * [backup-simplify]: Simplify (+ 0 0) into 0 10.138 * [backup-simplify]: Simplify (- 0) into 0 10.138 * [backup-simplify]: Simplify (+ 0 0) into 0 10.142 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (/ -1 phi1) (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) (* 2 1)) into (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda2 2) phi1)) (/ (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)))))) 10.142 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda2 2) phi1)) (/ (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)))))) in phi1 10.142 * [taylor]: Taking taylor expansion of 1/2 in phi1 10.142 * [backup-simplify]: Simplify 1/2 into 1/2 10.142 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda2 2) phi1)) (/ (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))))) in phi1 10.142 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda2 2) phi1)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda1 2) phi1))) in phi1 10.142 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda2 2) phi1)) in phi1 10.142 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.142 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.142 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.142 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.142 * [backup-simplify]: Simplify -0.5 into -0.5 10.142 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.142 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.142 * [taylor]: Taking taylor expansion of phi1 in phi1 10.142 * [backup-simplify]: Simplify 0 into 0 10.142 * [backup-simplify]: Simplify 1 into 1 10.143 * [backup-simplify]: Simplify (/ 1 1) into 1 10.143 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.143 * [taylor]: Taking taylor expansion of phi2 in phi1 10.143 * [backup-simplify]: Simplify phi2 into phi2 10.143 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.143 * [backup-simplify]: Simplify (+ 1 0) into 1 10.144 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.144 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.144 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 10.144 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 10.144 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.144 * [backup-simplify]: Simplify lambda2 into lambda2 10.144 * [taylor]: Taking taylor expansion of phi1 in phi1 10.144 * [backup-simplify]: Simplify 0 into 0 10.144 * [backup-simplify]: Simplify 1 into 1 10.144 * [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) 10.145 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.145 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 10.145 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 10.145 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 10.146 * [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)) 10.146 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda1 2) phi1)) in phi1 10.146 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.146 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.146 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.146 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.146 * [backup-simplify]: Simplify -0.5 into -0.5 10.146 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.146 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.146 * [taylor]: Taking taylor expansion of phi1 in phi1 10.146 * [backup-simplify]: Simplify 0 into 0 10.146 * [backup-simplify]: Simplify 1 into 1 10.147 * [backup-simplify]: Simplify (/ 1 1) into 1 10.147 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.147 * [taylor]: Taking taylor expansion of phi2 in phi1 10.147 * [backup-simplify]: Simplify phi2 into phi2 10.147 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.147 * [backup-simplify]: Simplify (+ 1 0) into 1 10.148 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.148 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.148 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 10.148 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 10.148 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.148 * [backup-simplify]: Simplify lambda1 into lambda1 10.148 * [taylor]: Taking taylor expansion of phi1 in phi1 10.148 * [backup-simplify]: Simplify 0 into 0 10.148 * [backup-simplify]: Simplify 1 into 1 10.148 * [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) 10.148 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.149 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 10.149 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 10.149 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 10.150 * [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)) 10.150 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) in phi1 10.150 * [taylor]: Taking taylor expansion of 2 in phi1 10.150 * [backup-simplify]: Simplify 2 into 2 10.150 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1))) in phi1 10.150 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.150 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.150 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.150 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.150 * [backup-simplify]: Simplify -0.5 into -0.5 10.150 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.150 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.150 * [taylor]: Taking taylor expansion of phi1 in phi1 10.150 * [backup-simplify]: Simplify 0 into 0 10.150 * [backup-simplify]: Simplify 1 into 1 10.150 * [backup-simplify]: Simplify (/ 1 1) into 1 10.151 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.151 * [taylor]: Taking taylor expansion of phi2 in phi1 10.151 * [backup-simplify]: Simplify phi2 into phi2 10.151 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.151 * [backup-simplify]: Simplify (+ 1 0) into 1 10.152 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.152 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.152 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 phi1)) in phi1 10.152 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.152 * [backup-simplify]: Simplify lambda2 into lambda2 10.152 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 10.152 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.152 * [backup-simplify]: Simplify lambda1 into lambda1 10.152 * [taylor]: Taking taylor expansion of phi1 in phi1 10.152 * [backup-simplify]: Simplify 0 into 0 10.152 * [backup-simplify]: Simplify 1 into 1 10.152 * [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) 10.152 * [backup-simplify]: Simplify (* lambda1 0) into 0 10.152 * [backup-simplify]: Simplify (* lambda2 0) into 0 10.153 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 10.153 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 10.154 * [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)) 10.155 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 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 lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) 10.155 * [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))) 10.155 * [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)))) 10.157 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 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))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 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)))) 10.158 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 10.158 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 10.158 * [taylor]: Taking taylor expansion of 1/2 in lambda1 10.158 * [backup-simplify]: Simplify 1/2 into 1/2 10.158 * [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))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 10.158 * [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))) in lambda1 10.158 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 10.158 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.158 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.158 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.159 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.159 * [backup-simplify]: Simplify -0.5 into -0.5 10.159 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.159 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.159 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.159 * [backup-simplify]: Simplify phi1 into phi1 10.159 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.159 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.159 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.159 * [backup-simplify]: Simplify phi2 into phi2 10.159 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.159 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.159 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.159 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.160 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.160 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.160 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.161 * [backup-simplify]: Simplify (- 0) into 0 10.161 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.161 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 10.161 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.161 * [backup-simplify]: Simplify lambda2 into lambda2 10.161 * [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) 10.161 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.162 * [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)) 10.162 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 10.162 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.162 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.162 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.162 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.162 * [backup-simplify]: Simplify -0.5 into -0.5 10.162 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.162 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.162 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.162 * [backup-simplify]: Simplify phi1 into phi1 10.162 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.162 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.162 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.162 * [backup-simplify]: Simplify phi2 into phi2 10.162 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.162 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.163 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.163 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.163 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.163 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.163 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.164 * [backup-simplify]: Simplify (- 0) into 0 10.164 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.164 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 10.164 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.164 * [backup-simplify]: Simplify 0 into 0 10.164 * [backup-simplify]: Simplify 1 into 1 10.165 * [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) 10.165 * [backup-simplify]: Simplify (* 1 1) into 1 10.165 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.165 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 10.165 * [taylor]: Taking taylor expansion of 2 in lambda1 10.165 * [backup-simplify]: Simplify 2 into 2 10.165 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 10.165 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.166 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.166 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.166 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.166 * [backup-simplify]: Simplify -0.5 into -0.5 10.166 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.166 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.166 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.166 * [backup-simplify]: Simplify phi1 into phi1 10.166 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.166 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.166 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.166 * [backup-simplify]: Simplify phi2 into phi2 10.166 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.166 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.166 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.166 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.167 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.167 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.167 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.167 * [backup-simplify]: Simplify (- 0) into 0 10.168 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.168 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 10.168 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.168 * [backup-simplify]: Simplify lambda2 into lambda2 10.168 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.168 * [backup-simplify]: Simplify 0 into 0 10.168 * [backup-simplify]: Simplify 1 into 1 10.168 * [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) 10.168 * [backup-simplify]: Simplify (* lambda2 0) into 0 10.169 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 10.169 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 10.169 * [backup-simplify]: Simplify (+ 0) into 0 10.170 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.171 * [backup-simplify]: Simplify (+ 0 0) into 0 10.171 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.172 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.173 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.173 * [backup-simplify]: Simplify (- 0) into 0 10.173 * [backup-simplify]: Simplify (+ 0 0) into 0 10.174 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.174 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.175 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 10.176 * [backup-simplify]: Simplify (+ 0 0) into 0 10.176 * [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)) 10.176 * [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))) 10.177 * [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))) 10.177 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.178 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.178 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 10.178 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 10.178 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 10.178 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.178 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.178 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.179 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.179 * [backup-simplify]: Simplify -0.5 into -0.5 10.179 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.179 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.179 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.179 * [backup-simplify]: Simplify phi1 into phi1 10.179 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.179 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.179 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.179 * [backup-simplify]: Simplify phi2 into phi2 10.179 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.179 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.179 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.179 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.179 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.180 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.180 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.180 * [backup-simplify]: Simplify (- 0) into 0 10.181 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.181 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.181 * [backup-simplify]: Simplify 0 into 0 10.181 * [backup-simplify]: Simplify 1 into 1 10.181 * [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) 10.181 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.182 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 10.182 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 10.183 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 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 lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) 10.183 * [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))) 10.184 * [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)))) 10.185 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 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))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 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)))) 10.186 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 10.187 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 10.187 * [taylor]: Taking taylor expansion of 1/2 in lambda1 10.187 * [backup-simplify]: Simplify 1/2 into 1/2 10.187 * [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))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 10.187 * [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))) in lambda1 10.187 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 10.187 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.187 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.187 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.187 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.187 * [backup-simplify]: Simplify -0.5 into -0.5 10.187 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.187 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.187 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.187 * [backup-simplify]: Simplify phi1 into phi1 10.187 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.187 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.187 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.187 * [backup-simplify]: Simplify phi2 into phi2 10.187 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.187 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.187 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.188 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.188 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.188 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.188 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.189 * [backup-simplify]: Simplify (- 0) into 0 10.189 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.189 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 10.189 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.189 * [backup-simplify]: Simplify lambda2 into lambda2 10.189 * [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) 10.190 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.190 * [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)) 10.190 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 10.190 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.190 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.190 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.190 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.190 * [backup-simplify]: Simplify -0.5 into -0.5 10.190 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.190 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.190 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.190 * [backup-simplify]: Simplify phi1 into phi1 10.190 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.190 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.190 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.190 * [backup-simplify]: Simplify phi2 into phi2 10.190 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.191 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.191 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.191 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.191 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.191 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.191 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.192 * [backup-simplify]: Simplify (- 0) into 0 10.192 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.192 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 10.192 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.192 * [backup-simplify]: Simplify 0 into 0 10.192 * [backup-simplify]: Simplify 1 into 1 10.193 * [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) 10.197 * [backup-simplify]: Simplify (* 1 1) into 1 10.198 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.198 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 10.198 * [taylor]: Taking taylor expansion of 2 in lambda1 10.198 * [backup-simplify]: Simplify 2 into 2 10.198 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 10.198 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.198 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.198 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.198 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.198 * [backup-simplify]: Simplify -0.5 into -0.5 10.198 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.198 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.198 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.198 * [backup-simplify]: Simplify phi1 into phi1 10.198 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.198 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.198 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.198 * [backup-simplify]: Simplify phi2 into phi2 10.198 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.198 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.199 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.199 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.199 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.199 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.200 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.200 * [backup-simplify]: Simplify (- 0) into 0 10.200 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.200 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 10.200 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.201 * [backup-simplify]: Simplify lambda2 into lambda2 10.201 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.201 * [backup-simplify]: Simplify 0 into 0 10.201 * [backup-simplify]: Simplify 1 into 1 10.201 * [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) 10.201 * [backup-simplify]: Simplify (* lambda2 0) into 0 10.201 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 10.202 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 10.202 * [backup-simplify]: Simplify (+ 0) into 0 10.203 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.203 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.203 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.203 * [backup-simplify]: Simplify (+ 0 0) into 0 10.204 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.205 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.206 * [backup-simplify]: Simplify (- 0) into 0 10.206 * [backup-simplify]: Simplify (+ 0 0) into 0 10.206 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.207 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.208 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 10.209 * [backup-simplify]: Simplify (+ 0 0) into 0 10.209 * [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)) 10.209 * [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))) 10.210 * [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))) 10.210 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.211 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.211 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 10.212 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 10.212 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 10.212 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.212 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.212 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.212 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.212 * [backup-simplify]: Simplify -0.5 into -0.5 10.212 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.212 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.212 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.212 * [backup-simplify]: Simplify phi1 into phi1 10.212 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.212 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.212 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.212 * [backup-simplify]: Simplify phi2 into phi2 10.212 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.212 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.212 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.213 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.213 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.213 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.213 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.214 * [backup-simplify]: Simplify (- 0) into 0 10.214 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.214 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.214 * [backup-simplify]: Simplify 0 into 0 10.214 * [backup-simplify]: Simplify 1 into 1 10.214 * [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) 10.215 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.215 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 10.215 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 10.216 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.217 * [taylor]: Taking taylor expansion of 0 in lambda1 10.217 * [backup-simplify]: Simplify 0 into 0 10.217 * [taylor]: Taking taylor expansion of 0 in lambda1 10.217 * [backup-simplify]: Simplify 0 into 0 10.217 * [taylor]: Taking taylor expansion of 0 in lambda2 10.217 * [backup-simplify]: Simplify 0 into 0 10.217 * [taylor]: Taking taylor expansion of 0 in lambda2 10.217 * [backup-simplify]: Simplify 0 into 0 10.217 * [taylor]: Taking taylor expansion of 0 in lambda2 10.217 * [backup-simplify]: Simplify 0 into 0 10.217 * [taylor]: Taking taylor expansion of 0 in lambda2 10.217 * [backup-simplify]: Simplify 0 into 0 10.217 * [backup-simplify]: Simplify -1 into -1 10.220 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* (/ 1 (/ 1 (- phi1))) 1)))) (+ (* (- (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2)) (* (/ 1 (/ 1 (- lambda2))) (* (/ 1 (/ 1 (- lambda1))) (* 1 (/ 1 (- phi2)))))) (* (- (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2)) (* (/ 1 (/ 1 (- lambda2))) (* (/ 1 (/ 1 (- lambda1))) (* (/ 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)) 10.220 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2 2 1 1) 10.220 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.220 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0 10.220 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 10.220 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 10.220 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.220 * [backup-simplify]: Simplify 0.5 into 0.5 10.220 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 10.220 * [taylor]: Taking taylor expansion of phi2 in phi1 10.220 * [backup-simplify]: Simplify phi2 into phi2 10.220 * [taylor]: Taking taylor expansion of phi1 in phi1 10.220 * [backup-simplify]: Simplify 0 into 0 10.220 * [backup-simplify]: Simplify 1 into 1 10.220 * [backup-simplify]: Simplify (+ phi2 0) into phi2 10.220 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.221 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.221 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.221 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.221 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.221 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.221 * [backup-simplify]: Simplify 0.5 into 0.5 10.221 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.221 * [taylor]: Taking taylor expansion of phi2 in phi2 10.221 * [backup-simplify]: Simplify 0 into 0 10.221 * [backup-simplify]: Simplify 1 into 1 10.221 * [taylor]: Taking taylor expansion of phi1 in phi2 10.221 * [backup-simplify]: Simplify phi1 into phi1 10.221 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.221 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.221 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.221 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.221 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.221 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.221 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.221 * [backup-simplify]: Simplify 0.5 into 0.5 10.221 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.221 * [taylor]: Taking taylor expansion of phi2 in phi2 10.222 * [backup-simplify]: Simplify 0 into 0 10.222 * [backup-simplify]: Simplify 1 into 1 10.222 * [taylor]: Taking taylor expansion of phi1 in phi2 10.222 * [backup-simplify]: Simplify phi1 into phi1 10.222 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.222 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.222 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.222 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.222 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.222 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.223 * [backup-simplify]: Simplify (- 0) into 0 10.223 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.223 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.223 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.223 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.223 * [backup-simplify]: Simplify 0.5 into 0.5 10.223 * [taylor]: Taking taylor expansion of phi1 in phi1 10.223 * [backup-simplify]: Simplify 0 into 0 10.223 * [backup-simplify]: Simplify 1 into 1 10.223 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.225 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.225 * [backup-simplify]: Simplify 1 into 1 10.225 * [backup-simplify]: Simplify (+ 0) into 0 10.226 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 10.226 * [backup-simplify]: Simplify (+ 1 0) into 1 10.227 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 10.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.230 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 10.230 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.230 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.230 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 10.230 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 10.230 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.230 * [backup-simplify]: Simplify 0.5 into 0.5 10.230 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 10.230 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.230 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.230 * [backup-simplify]: Simplify 0.5 into 0.5 10.230 * [taylor]: Taking taylor expansion of phi1 in phi1 10.230 * [backup-simplify]: Simplify 0 into 0 10.230 * [backup-simplify]: Simplify 1 into 1 10.231 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.232 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.233 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.233 * [backup-simplify]: Simplify (- 0) into 0 10.233 * [backup-simplify]: Simplify 0 into 0 10.233 * [backup-simplify]: Simplify (+ 0) into 0 10.233 * [backup-simplify]: Simplify 0 into 0 10.236 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 10.238 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 10.238 * [backup-simplify]: Simplify (+ 0 0) into 0 10.239 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 10.240 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.240 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 10.241 * [backup-simplify]: Simplify (- 0) into 0 10.241 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 10.241 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1 10.241 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1 10.241 * [taylor]: Taking taylor expansion of 0.125 in phi1 10.241 * [backup-simplify]: Simplify 0.125 into 0.125 10.241 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.241 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.241 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.241 * [backup-simplify]: Simplify 0.5 into 0.5 10.241 * [taylor]: Taking taylor expansion of phi1 in phi1 10.241 * [backup-simplify]: Simplify 0 into 0 10.241 * [backup-simplify]: Simplify 1 into 1 10.242 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.243 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.243 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 10.244 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 10.244 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 10.247 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.248 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 10.248 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 10.249 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 10.250 * [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)))) 10.250 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.250 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 10.250 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.250 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.250 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.251 * [backup-simplify]: Simplify 0.5 into 0.5 10.251 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.251 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.251 * [taylor]: Taking taylor expansion of phi1 in phi1 10.251 * [backup-simplify]: Simplify 0 into 0 10.251 * [backup-simplify]: Simplify 1 into 1 10.251 * [backup-simplify]: Simplify (/ 1 1) into 1 10.251 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.251 * [taylor]: Taking taylor expansion of phi2 in phi1 10.251 * [backup-simplify]: Simplify phi2 into phi2 10.251 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.252 * [backup-simplify]: Simplify (+ 1 0) into 1 10.252 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.252 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.252 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.252 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.252 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.252 * [backup-simplify]: Simplify 0.5 into 0.5 10.252 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.253 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.253 * [taylor]: Taking taylor expansion of phi1 in phi2 10.253 * [backup-simplify]: Simplify phi1 into phi1 10.253 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.253 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.253 * [taylor]: Taking taylor expansion of phi2 in phi2 10.253 * [backup-simplify]: Simplify 0 into 0 10.253 * [backup-simplify]: Simplify 1 into 1 10.253 * [backup-simplify]: Simplify (/ 1 1) into 1 10.253 * [backup-simplify]: Simplify (+ 0 1) into 1 10.254 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.254 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.254 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.254 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.254 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.254 * [backup-simplify]: Simplify 0.5 into 0.5 10.254 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.254 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.254 * [taylor]: Taking taylor expansion of phi1 in phi2 10.254 * [backup-simplify]: Simplify phi1 into phi1 10.254 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.254 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.254 * [taylor]: Taking taylor expansion of phi2 in phi2 10.255 * [backup-simplify]: Simplify 0 into 0 10.255 * [backup-simplify]: Simplify 1 into 1 10.255 * [backup-simplify]: Simplify (/ 1 1) into 1 10.255 * [backup-simplify]: Simplify (+ 0 1) into 1 10.256 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.256 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.256 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.256 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.256 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.256 * [backup-simplify]: Simplify 0.5 into 0.5 10.256 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.256 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.256 * [taylor]: Taking taylor expansion of phi1 in phi1 10.256 * [backup-simplify]: Simplify 0 into 0 10.256 * [backup-simplify]: Simplify 1 into 1 10.257 * [backup-simplify]: Simplify (/ 1 1) into 1 10.257 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.257 * [taylor]: Taking taylor expansion of phi2 in phi1 10.257 * [backup-simplify]: Simplify phi2 into phi2 10.257 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.257 * [backup-simplify]: Simplify (+ 1 0) into 1 10.258 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.258 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.258 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.258 * [taylor]: Taking taylor expansion of 0 in phi1 10.258 * [backup-simplify]: Simplify 0 into 0 10.258 * [backup-simplify]: Simplify 0 into 0 10.258 * [backup-simplify]: Simplify 0 into 0 10.258 * [taylor]: Taking taylor expansion of 0 in phi1 10.258 * [backup-simplify]: Simplify 0 into 0 10.258 * [backup-simplify]: Simplify 0 into 0 10.258 * [backup-simplify]: Simplify 0 into 0 10.258 * [backup-simplify]: Simplify 0 into 0 10.258 * [taylor]: Taking taylor expansion of 0 in phi1 10.258 * [backup-simplify]: Simplify 0 into 0 10.259 * [backup-simplify]: Simplify 0 into 0 10.259 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 10.259 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.259 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 10.259 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.259 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.259 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.259 * [backup-simplify]: Simplify -0.5 into -0.5 10.259 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.259 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.259 * [taylor]: Taking taylor expansion of phi1 in phi1 10.259 * [backup-simplify]: Simplify 0 into 0 10.259 * [backup-simplify]: Simplify 1 into 1 10.260 * [backup-simplify]: Simplify (/ 1 1) into 1 10.260 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.260 * [taylor]: Taking taylor expansion of phi2 in phi1 10.260 * [backup-simplify]: Simplify phi2 into phi2 10.260 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.260 * [backup-simplify]: Simplify (+ 1 0) into 1 10.261 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.261 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.261 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.261 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.261 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.261 * [backup-simplify]: Simplify -0.5 into -0.5 10.261 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.261 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.261 * [taylor]: Taking taylor expansion of phi1 in phi2 10.261 * [backup-simplify]: Simplify phi1 into phi1 10.261 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.261 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.261 * [taylor]: Taking taylor expansion of phi2 in phi2 10.261 * [backup-simplify]: Simplify 0 into 0 10.261 * [backup-simplify]: Simplify 1 into 1 10.262 * [backup-simplify]: Simplify (/ 1 1) into 1 10.262 * [backup-simplify]: Simplify (+ 0 1) into 1 10.262 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.263 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.263 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.263 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.263 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.263 * [backup-simplify]: Simplify -0.5 into -0.5 10.263 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.263 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.263 * [taylor]: Taking taylor expansion of phi1 in phi2 10.263 * [backup-simplify]: Simplify phi1 into phi1 10.263 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.263 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.263 * [taylor]: Taking taylor expansion of phi2 in phi2 10.263 * [backup-simplify]: Simplify 0 into 0 10.263 * [backup-simplify]: Simplify 1 into 1 10.263 * [backup-simplify]: Simplify (/ 1 1) into 1 10.264 * [backup-simplify]: Simplify (+ 0 1) into 1 10.264 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.264 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.265 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.265 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.265 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.265 * [backup-simplify]: Simplify -0.5 into -0.5 10.265 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.265 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.265 * [taylor]: Taking taylor expansion of phi1 in phi1 10.265 * [backup-simplify]: Simplify 0 into 0 10.265 * [backup-simplify]: Simplify 1 into 1 10.265 * [backup-simplify]: Simplify (/ 1 1) into 1 10.265 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.265 * [taylor]: Taking taylor expansion of phi2 in phi1 10.265 * [backup-simplify]: Simplify phi2 into phi2 10.265 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.266 * [backup-simplify]: Simplify (+ 1 0) into 1 10.266 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.266 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.267 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.267 * [taylor]: Taking taylor expansion of 0 in phi1 10.267 * [backup-simplify]: Simplify 0 into 0 10.267 * [backup-simplify]: Simplify 0 into 0 10.267 * [backup-simplify]: Simplify 0 into 0 10.267 * [taylor]: Taking taylor expansion of 0 in phi1 10.267 * [backup-simplify]: Simplify 0 into 0 10.267 * [backup-simplify]: Simplify 0 into 0 10.267 * [backup-simplify]: Simplify 0 into 0 10.267 * [backup-simplify]: Simplify 0 into 0 10.267 * [taylor]: Taking taylor expansion of 0 in phi1 10.267 * [backup-simplify]: Simplify 0 into 0 10.267 * [backup-simplify]: Simplify 0 into 0 10.267 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 10.267 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 1 1 1) 10.268 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.268 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0 10.268 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 10.268 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 10.268 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.268 * [backup-simplify]: Simplify 0.5 into 0.5 10.268 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 10.268 * [taylor]: Taking taylor expansion of phi2 in phi1 10.268 * [backup-simplify]: Simplify phi2 into phi2 10.268 * [taylor]: Taking taylor expansion of phi1 in phi1 10.268 * [backup-simplify]: Simplify 0 into 0 10.268 * [backup-simplify]: Simplify 1 into 1 10.268 * [backup-simplify]: Simplify (+ phi2 0) into phi2 10.268 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.268 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.268 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.268 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.268 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.268 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.268 * [backup-simplify]: Simplify 0.5 into 0.5 10.268 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.269 * [taylor]: Taking taylor expansion of phi2 in phi2 10.269 * [backup-simplify]: Simplify 0 into 0 10.269 * [backup-simplify]: Simplify 1 into 1 10.269 * [taylor]: Taking taylor expansion of phi1 in phi2 10.269 * [backup-simplify]: Simplify phi1 into phi1 10.269 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.269 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.269 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.269 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.269 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.269 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.269 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.269 * [backup-simplify]: Simplify 0.5 into 0.5 10.269 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.269 * [taylor]: Taking taylor expansion of phi2 in phi2 10.269 * [backup-simplify]: Simplify 0 into 0 10.269 * [backup-simplify]: Simplify 1 into 1 10.269 * [taylor]: Taking taylor expansion of phi1 in phi2 10.269 * [backup-simplify]: Simplify phi1 into phi1 10.269 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.269 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.269 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.270 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.270 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.270 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.270 * [backup-simplify]: Simplify (- 0) into 0 10.270 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.270 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.270 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.270 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.271 * [backup-simplify]: Simplify 0.5 into 0.5 10.271 * [taylor]: Taking taylor expansion of phi1 in phi1 10.271 * [backup-simplify]: Simplify 0 into 0 10.271 * [backup-simplify]: Simplify 1 into 1 10.271 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.273 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.273 * [backup-simplify]: Simplify 1 into 1 10.273 * [backup-simplify]: Simplify (+ 0) into 0 10.273 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 10.274 * [backup-simplify]: Simplify (+ 1 0) into 1 10.274 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 10.277 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.277 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 10.278 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.278 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.278 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 10.278 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 10.278 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.278 * [backup-simplify]: Simplify 0.5 into 0.5 10.278 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 10.278 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.278 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.278 * [backup-simplify]: Simplify 0.5 into 0.5 10.278 * [taylor]: Taking taylor expansion of phi1 in phi1 10.278 * [backup-simplify]: Simplify 0 into 0 10.278 * [backup-simplify]: Simplify 1 into 1 10.279 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.280 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.281 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.281 * [backup-simplify]: Simplify (- 0) into 0 10.281 * [backup-simplify]: Simplify 0 into 0 10.281 * [backup-simplify]: Simplify (+ 0) into 0 10.281 * [backup-simplify]: Simplify 0 into 0 10.284 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 10.285 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 10.286 * [backup-simplify]: Simplify (+ 0 0) into 0 10.287 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 10.287 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.288 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 10.289 * [backup-simplify]: Simplify (- 0) into 0 10.289 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 10.289 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1 10.289 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1 10.289 * [taylor]: Taking taylor expansion of 0.125 in phi1 10.289 * [backup-simplify]: Simplify 0.125 into 0.125 10.289 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.289 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.289 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.289 * [backup-simplify]: Simplify 0.5 into 0.5 10.289 * [taylor]: Taking taylor expansion of phi1 in phi1 10.289 * [backup-simplify]: Simplify 0 into 0 10.289 * [backup-simplify]: Simplify 1 into 1 10.290 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.291 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.292 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 10.292 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 10.292 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 10.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.296 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 10.296 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 10.296 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 10.297 * [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)))) 10.297 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.297 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 10.297 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.297 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.297 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.297 * [backup-simplify]: Simplify 0.5 into 0.5 10.297 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.297 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.297 * [taylor]: Taking taylor expansion of phi1 in phi1 10.297 * [backup-simplify]: Simplify 0 into 0 10.297 * [backup-simplify]: Simplify 1 into 1 10.297 * [backup-simplify]: Simplify (/ 1 1) into 1 10.297 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.298 * [taylor]: Taking taylor expansion of phi2 in phi1 10.298 * [backup-simplify]: Simplify phi2 into phi2 10.298 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.298 * [backup-simplify]: Simplify (+ 1 0) into 1 10.298 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.298 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.298 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.298 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.298 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.298 * [backup-simplify]: Simplify 0.5 into 0.5 10.298 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.298 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.298 * [taylor]: Taking taylor expansion of phi1 in phi2 10.298 * [backup-simplify]: Simplify phi1 into phi1 10.298 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.298 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.298 * [taylor]: Taking taylor expansion of phi2 in phi2 10.298 * [backup-simplify]: Simplify 0 into 0 10.298 * [backup-simplify]: Simplify 1 into 1 10.299 * [backup-simplify]: Simplify (/ 1 1) into 1 10.299 * [backup-simplify]: Simplify (+ 0 1) into 1 10.299 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.299 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.299 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.299 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.299 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.299 * [backup-simplify]: Simplify 0.5 into 0.5 10.299 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.299 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.299 * [taylor]: Taking taylor expansion of phi1 in phi2 10.300 * [backup-simplify]: Simplify phi1 into phi1 10.300 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.300 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.300 * [taylor]: Taking taylor expansion of phi2 in phi2 10.300 * [backup-simplify]: Simplify 0 into 0 10.300 * [backup-simplify]: Simplify 1 into 1 10.300 * [backup-simplify]: Simplify (/ 1 1) into 1 10.300 * [backup-simplify]: Simplify (+ 0 1) into 1 10.301 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.301 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.301 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.301 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.301 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.301 * [backup-simplify]: Simplify 0.5 into 0.5 10.301 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.301 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.301 * [taylor]: Taking taylor expansion of phi1 in phi1 10.301 * [backup-simplify]: Simplify 0 into 0 10.301 * [backup-simplify]: Simplify 1 into 1 10.301 * [backup-simplify]: Simplify (/ 1 1) into 1 10.301 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.301 * [taylor]: Taking taylor expansion of phi2 in phi1 10.301 * [backup-simplify]: Simplify phi2 into phi2 10.301 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.301 * [backup-simplify]: Simplify (+ 1 0) into 1 10.302 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.302 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.302 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.302 * [taylor]: Taking taylor expansion of 0 in phi1 10.302 * [backup-simplify]: Simplify 0 into 0 10.302 * [backup-simplify]: Simplify 0 into 0 10.302 * [backup-simplify]: Simplify 0 into 0 10.302 * [taylor]: Taking taylor expansion of 0 in phi1 10.302 * [backup-simplify]: Simplify 0 into 0 10.302 * [backup-simplify]: Simplify 0 into 0 10.302 * [backup-simplify]: Simplify 0 into 0 10.302 * [backup-simplify]: Simplify 0 into 0 10.302 * [taylor]: Taking taylor expansion of 0 in phi1 10.302 * [backup-simplify]: Simplify 0 into 0 10.302 * [backup-simplify]: Simplify 0 into 0 10.302 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 10.303 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.303 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 10.303 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.303 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.303 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.303 * [backup-simplify]: Simplify -0.5 into -0.5 10.303 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.303 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.303 * [taylor]: Taking taylor expansion of phi1 in phi1 10.303 * [backup-simplify]: Simplify 0 into 0 10.303 * [backup-simplify]: Simplify 1 into 1 10.303 * [backup-simplify]: Simplify (/ 1 1) into 1 10.303 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.303 * [taylor]: Taking taylor expansion of phi2 in phi1 10.303 * [backup-simplify]: Simplify phi2 into phi2 10.303 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.303 * [backup-simplify]: Simplify (+ 1 0) into 1 10.304 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.304 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.304 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.304 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.304 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.304 * [backup-simplify]: Simplify -0.5 into -0.5 10.304 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.304 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.304 * [taylor]: Taking taylor expansion of phi1 in phi2 10.304 * [backup-simplify]: Simplify phi1 into phi1 10.304 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.304 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.304 * [taylor]: Taking taylor expansion of phi2 in phi2 10.304 * [backup-simplify]: Simplify 0 into 0 10.304 * [backup-simplify]: Simplify 1 into 1 10.304 * [backup-simplify]: Simplify (/ 1 1) into 1 10.304 * [backup-simplify]: Simplify (+ 0 1) into 1 10.305 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.305 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.305 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.305 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.305 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.305 * [backup-simplify]: Simplify -0.5 into -0.5 10.305 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.305 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.305 * [taylor]: Taking taylor expansion of phi1 in phi2 10.305 * [backup-simplify]: Simplify phi1 into phi1 10.305 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.305 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.305 * [taylor]: Taking taylor expansion of phi2 in phi2 10.305 * [backup-simplify]: Simplify 0 into 0 10.305 * [backup-simplify]: Simplify 1 into 1 10.305 * [backup-simplify]: Simplify (/ 1 1) into 1 10.306 * [backup-simplify]: Simplify (+ 0 1) into 1 10.306 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.306 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.306 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.306 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.306 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.306 * [backup-simplify]: Simplify -0.5 into -0.5 10.306 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.306 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.306 * [taylor]: Taking taylor expansion of phi1 in phi1 10.306 * [backup-simplify]: Simplify 0 into 0 10.306 * [backup-simplify]: Simplify 1 into 1 10.306 * [backup-simplify]: Simplify (/ 1 1) into 1 10.306 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.306 * [taylor]: Taking taylor expansion of phi2 in phi1 10.306 * [backup-simplify]: Simplify phi2 into phi2 10.306 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.307 * [backup-simplify]: Simplify (+ 1 0) into 1 10.307 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.307 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.307 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.307 * [taylor]: Taking taylor expansion of 0 in phi1 10.307 * [backup-simplify]: Simplify 0 into 0 10.307 * [backup-simplify]: Simplify 0 into 0 10.307 * [backup-simplify]: Simplify 0 into 0 10.307 * [taylor]: Taking taylor expansion of 0 in phi1 10.307 * [backup-simplify]: Simplify 0 into 0 10.307 * [backup-simplify]: Simplify 0 into 0 10.307 * [backup-simplify]: Simplify 0 into 0 10.307 * [backup-simplify]: Simplify 0 into 0 10.307 * [taylor]: Taking taylor expansion of 0 in phi1 10.308 * [backup-simplify]: Simplify 0 into 0 10.308 * [backup-simplify]: Simplify 0 into 0 10.308 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 10.308 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1) 10.308 * [backup-simplify]: Simplify (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 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)))) 10.308 * [approximate]: Taking taylor expansion of (- (+ (* (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)))) in (phi2 phi1 lambda1 lambda2) around 0 10.308 * [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))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 10.308 * [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))) in lambda2 10.308 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 10.308 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.308 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.308 * [backup-simplify]: Simplify 0 into 0 10.309 * [backup-simplify]: Simplify 1 into 1 10.309 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 10.309 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 10.309 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 10.309 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.309 * [backup-simplify]: Simplify 0.5 into 0.5 10.309 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 10.309 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.309 * [backup-simplify]: Simplify phi2 into phi2 10.309 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.309 * [backup-simplify]: Simplify phi1 into phi1 10.309 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.309 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.309 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.309 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.309 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.309 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.309 * [backup-simplify]: Simplify (- 0) into 0 10.309 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.309 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 10.309 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 10.309 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 10.309 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 10.309 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.309 * [backup-simplify]: Simplify 0.5 into 0.5 10.310 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 10.310 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.310 * [backup-simplify]: Simplify phi2 into phi2 10.310 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.310 * [backup-simplify]: Simplify phi1 into phi1 10.310 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.310 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.310 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.310 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.310 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.310 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.310 * [backup-simplify]: Simplify (- 0) into 0 10.310 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.310 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 10.310 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.310 * [backup-simplify]: Simplify lambda1 into lambda1 10.310 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 10.310 * [taylor]: Taking taylor expansion of 2 in lambda2 10.310 * [backup-simplify]: Simplify 2 into 2 10.310 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 10.310 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.310 * [backup-simplify]: Simplify 0 into 0 10.310 * [backup-simplify]: Simplify 1 into 1 10.310 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 10.311 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 10.311 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 10.311 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 10.311 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.311 * [backup-simplify]: Simplify 0.5 into 0.5 10.311 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 10.311 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.311 * [backup-simplify]: Simplify phi2 into phi2 10.311 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.311 * [backup-simplify]: Simplify phi1 into phi1 10.311 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.311 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.311 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.311 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.311 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.311 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.311 * [backup-simplify]: Simplify (- 0) into 0 10.311 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.311 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.311 * [backup-simplify]: Simplify lambda1 into lambda1 10.311 * [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))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 10.311 * [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))) in lambda1 10.312 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 10.312 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 10.312 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.312 * [backup-simplify]: Simplify lambda2 into lambda2 10.312 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 10.312 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 10.312 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 10.312 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.312 * [backup-simplify]: Simplify 0.5 into 0.5 10.312 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 10.312 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.312 * [backup-simplify]: Simplify phi2 into phi2 10.312 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.312 * [backup-simplify]: Simplify phi1 into phi1 10.312 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.312 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.312 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.312 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.312 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.312 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.312 * [backup-simplify]: Simplify (- 0) into 0 10.312 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.313 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 10.313 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 10.313 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 10.313 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 10.313 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.313 * [backup-simplify]: Simplify 0.5 into 0.5 10.313 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 10.313 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.313 * [backup-simplify]: Simplify phi2 into phi2 10.313 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.313 * [backup-simplify]: Simplify phi1 into phi1 10.313 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.313 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.313 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.313 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.313 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.313 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.313 * [backup-simplify]: Simplify (- 0) into 0 10.313 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.313 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 10.313 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.313 * [backup-simplify]: Simplify 0 into 0 10.313 * [backup-simplify]: Simplify 1 into 1 10.313 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 10.314 * [taylor]: Taking taylor expansion of 2 in lambda1 10.314 * [backup-simplify]: Simplify 2 into 2 10.314 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 10.314 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.314 * [backup-simplify]: Simplify lambda2 into lambda2 10.314 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 10.314 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 10.314 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 10.314 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 10.314 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.314 * [backup-simplify]: Simplify 0.5 into 0.5 10.314 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 10.314 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.314 * [backup-simplify]: Simplify phi2 into phi2 10.314 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.314 * [backup-simplify]: Simplify phi1 into phi1 10.314 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.314 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.314 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.314 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.314 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.314 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.314 * [backup-simplify]: Simplify (- 0) into 0 10.315 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.315 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.315 * [backup-simplify]: Simplify 0 into 0 10.315 * [backup-simplify]: Simplify 1 into 1 10.315 * [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))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 10.315 * [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))) in phi1 10.315 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 10.315 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 10.315 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.315 * [backup-simplify]: Simplify lambda2 into lambda2 10.315 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 10.315 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 10.315 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 10.315 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.315 * [backup-simplify]: Simplify 0.5 into 0.5 10.315 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 10.315 * [taylor]: Taking taylor expansion of phi2 in phi1 10.315 * [backup-simplify]: Simplify phi2 into phi2 10.315 * [taylor]: Taking taylor expansion of phi1 in phi1 10.315 * [backup-simplify]: Simplify 0 into 0 10.315 * [backup-simplify]: Simplify 1 into 1 10.315 * [backup-simplify]: Simplify (+ phi2 0) into phi2 10.315 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.315 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.315 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.315 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 10.315 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 10.315 * [backup-simplify]: Simplify (- 0) into 0 10.315 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 10.316 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 10.316 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 10.316 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 10.316 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 10.316 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.316 * [backup-simplify]: Simplify 0.5 into 0.5 10.316 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 10.316 * [taylor]: Taking taylor expansion of phi2 in phi1 10.316 * [backup-simplify]: Simplify phi2 into phi2 10.316 * [taylor]: Taking taylor expansion of phi1 in phi1 10.316 * [backup-simplify]: Simplify 0 into 0 10.316 * [backup-simplify]: Simplify 1 into 1 10.316 * [backup-simplify]: Simplify (+ phi2 0) into phi2 10.316 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.316 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.316 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.316 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 10.316 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 10.316 * [backup-simplify]: Simplify (- 0) into 0 10.316 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 10.316 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 10.316 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.316 * [backup-simplify]: Simplify lambda1 into lambda1 10.316 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 10.316 * [taylor]: Taking taylor expansion of 2 in phi1 10.316 * [backup-simplify]: Simplify 2 into 2 10.316 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 10.316 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.316 * [backup-simplify]: Simplify lambda2 into lambda2 10.316 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 10.317 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 10.317 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 10.317 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 10.317 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.317 * [backup-simplify]: Simplify 0.5 into 0.5 10.317 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 10.317 * [taylor]: Taking taylor expansion of phi2 in phi1 10.317 * [backup-simplify]: Simplify phi2 into phi2 10.317 * [taylor]: Taking taylor expansion of phi1 in phi1 10.317 * [backup-simplify]: Simplify 0 into 0 10.317 * [backup-simplify]: Simplify 1 into 1 10.317 * [backup-simplify]: Simplify (+ phi2 0) into phi2 10.317 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.317 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.317 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.317 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 10.317 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 10.317 * [backup-simplify]: Simplify (- 0) into 0 10.317 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 10.317 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.317 * [backup-simplify]: Simplify lambda1 into lambda1 10.317 * [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))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 10.317 * [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))) in phi2 10.317 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 10.317 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 10.317 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.317 * [backup-simplify]: Simplify lambda2 into lambda2 10.317 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 10.317 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.318 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.318 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.318 * [backup-simplify]: Simplify 0.5 into 0.5 10.318 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.318 * [taylor]: Taking taylor expansion of phi2 in phi2 10.318 * [backup-simplify]: Simplify 0 into 0 10.318 * [backup-simplify]: Simplify 1 into 1 10.318 * [taylor]: Taking taylor expansion of phi1 in phi2 10.318 * [backup-simplify]: Simplify phi1 into phi1 10.318 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.318 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.318 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.318 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.318 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.318 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.318 * [backup-simplify]: Simplify (- 0) into 0 10.318 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.318 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 10.318 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 10.318 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.318 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.318 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.318 * [backup-simplify]: Simplify 0.5 into 0.5 10.318 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.318 * [taylor]: Taking taylor expansion of phi2 in phi2 10.319 * [backup-simplify]: Simplify 0 into 0 10.319 * [backup-simplify]: Simplify 1 into 1 10.319 * [taylor]: Taking taylor expansion of phi1 in phi2 10.319 * [backup-simplify]: Simplify phi1 into phi1 10.319 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.319 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.319 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.319 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.319 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.319 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.319 * [backup-simplify]: Simplify (- 0) into 0 10.319 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.319 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 10.319 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.319 * [backup-simplify]: Simplify lambda1 into lambda1 10.319 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 10.319 * [taylor]: Taking taylor expansion of 2 in phi2 10.319 * [backup-simplify]: Simplify 2 into 2 10.319 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 10.319 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.319 * [backup-simplify]: Simplify lambda2 into lambda2 10.320 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 10.320 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 10.320 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.320 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.320 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.320 * [backup-simplify]: Simplify 0.5 into 0.5 10.320 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.320 * [taylor]: Taking taylor expansion of phi2 in phi2 10.320 * [backup-simplify]: Simplify 0 into 0 10.320 * [backup-simplify]: Simplify 1 into 1 10.320 * [taylor]: Taking taylor expansion of phi1 in phi2 10.320 * [backup-simplify]: Simplify phi1 into phi1 10.320 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.320 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.320 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.320 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.320 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.320 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.321 * [backup-simplify]: Simplify (- 0) into 0 10.321 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.321 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.321 * [backup-simplify]: Simplify lambda1 into lambda1 10.321 * [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))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 10.321 * [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))) in phi2 10.321 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 10.321 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 10.321 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.321 * [backup-simplify]: Simplify lambda2 into lambda2 10.321 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 10.321 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.321 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.321 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.321 * [backup-simplify]: Simplify 0.5 into 0.5 10.321 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.321 * [taylor]: Taking taylor expansion of phi2 in phi2 10.321 * [backup-simplify]: Simplify 0 into 0 10.321 * [backup-simplify]: Simplify 1 into 1 10.321 * [taylor]: Taking taylor expansion of phi1 in phi2 10.321 * [backup-simplify]: Simplify phi1 into phi1 10.321 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.322 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.322 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.322 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.322 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.322 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.322 * [backup-simplify]: Simplify (- 0) into 0 10.322 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.322 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 10.322 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 10.322 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.322 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.323 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.323 * [backup-simplify]: Simplify 0.5 into 0.5 10.323 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.323 * [taylor]: Taking taylor expansion of phi2 in phi2 10.323 * [backup-simplify]: Simplify 0 into 0 10.323 * [backup-simplify]: Simplify 1 into 1 10.323 * [taylor]: Taking taylor expansion of phi1 in phi2 10.323 * [backup-simplify]: Simplify phi1 into phi1 10.323 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.323 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.323 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.323 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.323 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.323 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.324 * [backup-simplify]: Simplify (- 0) into 0 10.324 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.324 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 10.324 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.324 * [backup-simplify]: Simplify lambda1 into lambda1 10.324 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 10.324 * [taylor]: Taking taylor expansion of 2 in phi2 10.324 * [backup-simplify]: Simplify 2 into 2 10.324 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 10.324 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.324 * [backup-simplify]: Simplify lambda2 into lambda2 10.324 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 10.324 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 10.324 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.324 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.324 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.324 * [backup-simplify]: Simplify 0.5 into 0.5 10.324 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.324 * [taylor]: Taking taylor expansion of phi2 in phi2 10.324 * [backup-simplify]: Simplify 0 into 0 10.324 * [backup-simplify]: Simplify 1 into 1 10.324 * [taylor]: Taking taylor expansion of phi1 in phi2 10.324 * [backup-simplify]: Simplify phi1 into phi1 10.324 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.324 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.324 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.325 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.325 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.325 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.325 * [backup-simplify]: Simplify (- 0) into 0 10.325 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.325 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.325 * [backup-simplify]: Simplify lambda1 into lambda1 10.325 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.326 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 10.326 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 10.326 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 10.326 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.326 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 10.327 * [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))) 10.327 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 10.327 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 10.328 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 10.328 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 10.328 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 10.329 * [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)))) 10.329 * [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 10.329 * [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 10.329 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 10.329 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 10.330 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.330 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.330 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.330 * [backup-simplify]: Simplify 0.5 into 0.5 10.330 * [taylor]: Taking taylor expansion of phi1 in phi1 10.330 * [backup-simplify]: Simplify 0 into 0 10.330 * [backup-simplify]: Simplify 1 into 1 10.330 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.332 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.332 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 10.332 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.332 * [backup-simplify]: Simplify lambda2 into lambda2 10.332 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 10.332 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 10.332 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.332 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.332 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.332 * [backup-simplify]: Simplify 0.5 into 0.5 10.332 * [taylor]: Taking taylor expansion of phi1 in phi1 10.332 * [backup-simplify]: Simplify 0 into 0 10.332 * [backup-simplify]: Simplify 1 into 1 10.332 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.334 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.334 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 10.334 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.334 * [backup-simplify]: Simplify lambda1 into lambda1 10.334 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 10.334 * [taylor]: Taking taylor expansion of 2 in phi1 10.334 * [backup-simplify]: Simplify 2 into 2 10.334 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 10.334 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 10.334 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.334 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.334 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.334 * [backup-simplify]: Simplify 0.5 into 0.5 10.334 * [taylor]: Taking taylor expansion of phi1 in phi1 10.334 * [backup-simplify]: Simplify 0 into 0 10.334 * [backup-simplify]: Simplify 1 into 1 10.335 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.336 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.336 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 10.336 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.336 * [backup-simplify]: Simplify lambda2 into lambda2 10.336 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.336 * [backup-simplify]: Simplify lambda1 into lambda1 10.337 * [backup-simplify]: Simplify (* 1 1) into 1 10.337 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.337 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 10.337 * [backup-simplify]: Simplify (* 1 1) into 1 10.337 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.337 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 10.338 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 10.338 * [backup-simplify]: Simplify (* 1 1) into 1 10.338 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.338 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 10.338 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 10.338 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 10.339 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 10.339 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 10.339 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 10.339 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 10.339 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.339 * [backup-simplify]: Simplify 0 into 0 10.339 * [backup-simplify]: Simplify 1 into 1 10.339 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 10.339 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.339 * [backup-simplify]: Simplify lambda2 into lambda2 10.339 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 10.339 * [taylor]: Taking taylor expansion of 2 in lambda1 10.339 * [backup-simplify]: Simplify 2 into 2 10.339 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 10.339 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.339 * [backup-simplify]: Simplify lambda2 into lambda2 10.339 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.339 * [backup-simplify]: Simplify 0 into 0 10.339 * [backup-simplify]: Simplify 1 into 1 10.339 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.340 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 10.340 * [backup-simplify]: Simplify (* lambda2 0) into 0 10.340 * [backup-simplify]: Simplify (* 2 0) into 0 10.340 * [backup-simplify]: Simplify (- 0) into 0 10.341 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 10.341 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.341 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.341 * [backup-simplify]: Simplify 0 into 0 10.341 * [backup-simplify]: Simplify 1 into 1 10.341 * [backup-simplify]: Simplify (+ 0) into 0 10.342 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 10.342 * [backup-simplify]: Simplify (+ 1 0) into 1 10.343 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 10.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.345 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 10.346 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.346 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.346 * [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))))) 10.346 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 10.347 * [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))))) 10.347 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 10.351 * [backup-simplify]: Simplify (+ 0) into 0 10.351 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 10.351 * [backup-simplify]: Simplify (+ 1 0) into 1 10.352 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 10.353 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.353 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 10.354 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.354 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.354 * [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))))) 10.354 * [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))))) 10.355 * [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)))))) 10.355 * [backup-simplify]: Simplify (+ 0) into 0 10.355 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 10.356 * [backup-simplify]: Simplify (+ 1 0) into 1 10.356 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 10.357 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.358 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 10.358 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.358 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.358 * [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))))) 10.358 * [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)))) 10.359 * [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))))) 10.359 * [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))))) 10.359 * [backup-simplify]: Simplify (- (- (* 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)))) 10.360 * [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))))) 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)))))) 10.360 * [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 10.360 * [taylor]: Taking taylor expansion of (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) in phi1 10.360 * [taylor]: Taking taylor expansion of 2.0 in phi1 10.360 * [backup-simplify]: Simplify 2.0 into 2.0 10.360 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))) in phi1 10.360 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.360 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.360 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.360 * [backup-simplify]: Simplify 0.5 into 0.5 10.360 * [taylor]: Taking taylor expansion of phi1 in phi1 10.360 * [backup-simplify]: Simplify 0 into 0 10.360 * [backup-simplify]: Simplify 1 into 1 10.360 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.361 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.361 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 lambda1)) in phi1 10.361 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 10.361 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.361 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.361 * [backup-simplify]: Simplify 0.5 into 0.5 10.361 * [taylor]: Taking taylor expansion of phi1 in phi1 10.361 * [backup-simplify]: Simplify 0 into 0 10.361 * [backup-simplify]: Simplify 1 into 1 10.362 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.362 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.362 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 10.362 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.363 * [backup-simplify]: Simplify lambda2 into lambda2 10.363 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.363 * [backup-simplify]: Simplify lambda1 into lambda1 10.363 * [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 10.363 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 10.363 * [taylor]: Taking taylor expansion of 1.0 in phi1 10.363 * [backup-simplify]: Simplify 1.0 into 1.0 10.363 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 10.363 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.363 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.363 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.363 * [backup-simplify]: Simplify 0.5 into 0.5 10.363 * [taylor]: Taking taylor expansion of phi1 in phi1 10.363 * [backup-simplify]: Simplify 0 into 0 10.363 * [backup-simplify]: Simplify 1 into 1 10.363 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.364 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.364 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 10.364 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 10.364 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.364 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.364 * [backup-simplify]: Simplify 0.5 into 0.5 10.364 * [taylor]: Taking taylor expansion of phi1 in phi1 10.364 * [backup-simplify]: Simplify 0 into 0 10.364 * [backup-simplify]: Simplify 1 into 1 10.364 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.365 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.365 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 10.365 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.365 * [backup-simplify]: Simplify lambda1 into lambda1 10.365 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 10.365 * [taylor]: Taking taylor expansion of 1.0 in phi1 10.365 * [backup-simplify]: Simplify 1.0 into 1.0 10.365 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 10.365 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.365 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.365 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.365 * [backup-simplify]: Simplify 0.5 into 0.5 10.365 * [taylor]: Taking taylor expansion of phi1 in phi1 10.365 * [backup-simplify]: Simplify 0 into 0 10.365 * [backup-simplify]: Simplify 1 into 1 10.366 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.366 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.367 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 10.367 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 10.367 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.367 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.367 * [backup-simplify]: Simplify 0.5 into 0.5 10.367 * [taylor]: Taking taylor expansion of phi1 in phi1 10.367 * [backup-simplify]: Simplify 0 into 0 10.367 * [backup-simplify]: Simplify 1 into 1 10.367 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.368 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.368 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 10.368 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.368 * [backup-simplify]: Simplify lambda2 into lambda2 10.368 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.368 * [backup-simplify]: Simplify (* 0 (* lambda2 lambda1)) into 0 10.368 * [backup-simplify]: Simplify (* 1 0) into 0 10.368 * [backup-simplify]: Simplify (* 2.0 0) into 0 10.369 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.369 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 10.369 * [backup-simplify]: Simplify (* 1 0) into 0 10.369 * [backup-simplify]: Simplify (* 1.0 0) into 0 10.369 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.369 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 10.370 * [backup-simplify]: Simplify (* 1 0) into 0 10.370 * [backup-simplify]: Simplify (* 1.0 0) into 0 10.370 * [backup-simplify]: Simplify (+ 0 0) into 0 10.370 * [backup-simplify]: Simplify (- 0) into 0 10.370 * [backup-simplify]: Simplify (+ 0 0) into 0 10.371 * [taylor]: Taking taylor expansion of 0 in lambda1 10.371 * [backup-simplify]: Simplify 0 into 0 10.371 * [taylor]: Taking taylor expansion of 0 in lambda2 10.371 * [backup-simplify]: Simplify 0 into 0 10.371 * [backup-simplify]: Simplify 0 into 0 10.371 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 10.371 * [backup-simplify]: Simplify (+ 0) into 0 10.371 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.372 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 10.372 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 10.372 * [backup-simplify]: Simplify (+ 0) into 0 10.372 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.373 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 10.373 * [backup-simplify]: Simplify (+ 0 0) into 0 10.373 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 10.373 * [backup-simplify]: Simplify (+ 0) into 0 10.374 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.374 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 10.374 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 10.374 * [backup-simplify]: Simplify (- 0) into 0 10.375 * [backup-simplify]: Simplify (+ 0 0) into 0 10.375 * [taylor]: Taking taylor expansion of 0 in lambda1 10.375 * [backup-simplify]: Simplify 0 into 0 10.375 * [taylor]: Taking taylor expansion of 0 in lambda2 10.375 * [backup-simplify]: Simplify 0 into 0 10.375 * [backup-simplify]: Simplify 0 into 0 10.375 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 10.375 * [backup-simplify]: Simplify (+ 0 0) into 0 10.375 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 10.376 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 10.376 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 10.376 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 10.376 * [taylor]: Taking taylor expansion of (- (* 2 lambda2)) in lambda2 10.376 * [taylor]: Taking taylor expansion of (* 2 lambda2) in lambda2 10.376 * [taylor]: Taking taylor expansion of 2 in lambda2 10.376 * [backup-simplify]: Simplify 2 into 2 10.376 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.376 * [backup-simplify]: Simplify 0 into 0 10.376 * [backup-simplify]: Simplify 1 into 1 10.376 * [backup-simplify]: Simplify (* 2 0) into 0 10.376 * [backup-simplify]: Simplify (- 0) into 0 10.376 * [backup-simplify]: Simplify 0 into 0 10.378 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 10.379 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 10.379 * [backup-simplify]: Simplify (+ 0 0) into 0 10.379 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 10.380 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.380 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 10.380 * [backup-simplify]: Simplify (- 0) into 0 10.380 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 10.381 * [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))) 10.381 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 10.382 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2)))) (+ (* 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2)))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) 10.382 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 10.384 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 10.385 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 10.385 * [backup-simplify]: Simplify (+ 0 0) into 0 10.386 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 10.387 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.388 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 10.388 * [backup-simplify]: Simplify (- 0) into 0 10.388 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 10.389 * [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))) 10.390 * [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)))) 10.392 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (* 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 (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))))) 10.395 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 10.396 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 10.397 * [backup-simplify]: Simplify (+ 0 0) into 0 10.398 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 10.398 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.399 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 10.399 * [backup-simplify]: Simplify (- 0) into 0 10.400 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 10.400 * [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))) 10.402 * [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))) 10.403 * [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)))) 10.404 * [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)))) 10.405 * [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)))) 10.408 * [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)))))) 10.408 * [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 10.408 * [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 10.408 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 10.408 * [taylor]: Taking taylor expansion of 0.25 in phi1 10.408 * [backup-simplify]: Simplify 0.25 into 0.25 10.408 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 10.409 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 10.409 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 10.409 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.409 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.409 * [backup-simplify]: Simplify 0.5 into 0.5 10.409 * [taylor]: Taking taylor expansion of phi1 in phi1 10.409 * [backup-simplify]: Simplify 0 into 0 10.409 * [backup-simplify]: Simplify 1 into 1 10.409 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.411 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.414 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.414 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 10.414 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.414 * [backup-simplify]: Simplify lambda1 into lambda1 10.414 * [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 10.414 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 10.414 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.414 * [backup-simplify]: Simplify 0.5 into 0.5 10.414 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 10.414 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 10.414 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.414 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.414 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.414 * [backup-simplify]: Simplify 0.5 into 0.5 10.414 * [taylor]: Taking taylor expansion of phi1 in phi1 10.414 * [backup-simplify]: Simplify 0 into 0 10.414 * [backup-simplify]: Simplify 1 into 1 10.415 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.416 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.416 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 10.416 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.416 * [backup-simplify]: Simplify lambda2 into lambda2 10.416 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.416 * [backup-simplify]: Simplify lambda1 into lambda1 10.416 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 10.416 * [taylor]: Taking taylor expansion of 0.25 in phi1 10.416 * [backup-simplify]: Simplify 0.25 into 0.25 10.416 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 10.417 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 10.417 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 10.417 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.417 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.417 * [backup-simplify]: Simplify 0.5 into 0.5 10.417 * [taylor]: Taking taylor expansion of phi1 in phi1 10.417 * [backup-simplify]: Simplify 0 into 0 10.417 * [backup-simplify]: Simplify 1 into 1 10.417 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.419 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.421 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 10.422 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.422 * [backup-simplify]: Simplify lambda2 into lambda2 10.422 * [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 10.422 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 10.422 * [taylor]: Taking taylor expansion of 0.25 in phi1 10.422 * [backup-simplify]: Simplify 0.25 into 0.25 10.422 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 10.422 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 10.422 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.422 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.422 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.422 * [backup-simplify]: Simplify 0.5 into 0.5 10.422 * [taylor]: Taking taylor expansion of phi1 in phi1 10.422 * [backup-simplify]: Simplify 0 into 0 10.422 * [backup-simplify]: Simplify 1 into 1 10.422 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.424 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.424 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 10.424 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.424 * [backup-simplify]: Simplify lambda1 into lambda1 10.424 * [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 10.424 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 10.424 * [taylor]: Taking taylor expansion of 0.25 in phi1 10.424 * [backup-simplify]: Simplify 0.25 into 0.25 10.424 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 10.424 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 10.424 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.424 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.424 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.424 * [backup-simplify]: Simplify 0.5 into 0.5 10.424 * [taylor]: Taking taylor expansion of phi1 in phi1 10.424 * [backup-simplify]: Simplify 0 into 0 10.425 * [backup-simplify]: Simplify 1 into 1 10.425 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.426 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.426 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 10.426 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.427 * [backup-simplify]: Simplify lambda2 into lambda2 10.427 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 10.427 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.427 * [backup-simplify]: Simplify 0.5 into 0.5 10.427 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 10.427 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 10.427 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 10.427 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.427 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.427 * [backup-simplify]: Simplify 0.5 into 0.5 10.427 * [taylor]: Taking taylor expansion of phi1 in phi1 10.427 * [backup-simplify]: Simplify 0 into 0 10.427 * [backup-simplify]: Simplify 1 into 1 10.427 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.429 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.431 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 10.431 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.431 * [backup-simplify]: Simplify lambda2 into lambda2 10.431 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.431 * [backup-simplify]: Simplify lambda1 into lambda1 10.432 * [backup-simplify]: Simplify (* 1 1) into 1 10.432 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.432 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 10.432 * [backup-simplify]: Simplify (* 0.5 (* lambda2 lambda1)) into (* 0.5 (* lambda2 lambda1)) 10.432 * [backup-simplify]: Simplify (+ (* 0.5 (* lambda2 lambda1)) 0) into (* 0.5 (* lambda2 lambda1)) 10.432 * [backup-simplify]: Simplify (+ 0 (* 0.5 (* lambda2 lambda1))) into (* 0.5 (* lambda2 lambda1)) 10.433 * [backup-simplify]: Simplify (* 1 1) into 1 10.433 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.433 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 10.433 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 10.433 * [backup-simplify]: Simplify (* 1 1) into 1 10.434 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.434 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 10.434 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 10.434 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda2 2)) 0) into (* 0.25 (pow lambda2 2)) 10.434 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) into (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) 10.435 * [backup-simplify]: Simplify (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) into (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 10.435 * [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)))) 10.435 * [taylor]: Taking taylor expansion of (- (* 0.5 (* lambda2 lambda1)) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda1 10.435 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda1 10.436 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.436 * [backup-simplify]: Simplify 0.5 into 0.5 10.436 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 10.436 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.436 * [backup-simplify]: Simplify lambda2 into lambda2 10.436 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.436 * [backup-simplify]: Simplify 0 into 0 10.436 * [backup-simplify]: Simplify 1 into 1 10.436 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda1 10.436 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 10.436 * [taylor]: Taking taylor expansion of 0.25 in lambda1 10.436 * [backup-simplify]: Simplify 0.25 into 0.25 10.436 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 10.436 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.436 * [backup-simplify]: Simplify 0 into 0 10.436 * [backup-simplify]: Simplify 1 into 1 10.436 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda1 10.436 * [taylor]: Taking taylor expansion of 0.25 in lambda1 10.436 * [backup-simplify]: Simplify 0.25 into 0.25 10.436 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 10.436 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.436 * [backup-simplify]: Simplify lambda2 into lambda2 10.436 * [backup-simplify]: Simplify (* lambda2 0) into 0 10.437 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.437 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.437 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 10.437 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda2 2))) into (* 0.25 (pow lambda2 2)) 10.437 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda2 2))) into (- (* 0.25 (pow lambda2 2))) 10.438 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (pow lambda2 2)))) into (- (* 0.25 (pow lambda2 2))) 10.438 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow lambda2 2))) in lambda2 10.438 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 10.438 * [taylor]: Taking taylor expansion of 0.25 in lambda2 10.438 * [backup-simplify]: Simplify 0.25 into 0.25 10.438 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.438 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.438 * [backup-simplify]: Simplify 0 into 0 10.438 * [backup-simplify]: Simplify 1 into 1 10.438 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 10.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.441 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* lambda2 lambda1))) into (* 0.5 (* lambda2 lambda1)) 10.441 * [backup-simplify]: Simplify (+ 0) into 0 10.442 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 0.5 (* lambda2 lambda1)) 10.442 * [backup-simplify]: Simplify (+ (* 2.0 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 1.0 (* lambda2 lambda1)) 10.442 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 10.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.445 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 10.446 * [backup-simplify]: Simplify (+ 0) into 0 10.446 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 10.447 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 10.447 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 10.449 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.449 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 10.449 * [backup-simplify]: Simplify (+ 0) into 0 10.450 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 10.450 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 10.450 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2))) into (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2))) 10.450 * [backup-simplify]: Simplify (- (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2)))) into (- (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2)))) 10.451 * [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)))) 10.451 * [taylor]: Taking taylor expansion of (- (* 1.0 (* lambda2 lambda1)) (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2)))) in lambda1 10.451 * [taylor]: Taking taylor expansion of (* 1.0 (* lambda2 lambda1)) in lambda1 10.451 * [taylor]: Taking taylor expansion of 1.0 in lambda1 10.451 * [backup-simplify]: Simplify 1.0 into 1.0 10.451 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 10.451 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.451 * [backup-simplify]: Simplify lambda2 into lambda2 10.451 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.451 * [backup-simplify]: Simplify 0 into 0 10.451 * [backup-simplify]: Simplify 1 into 1 10.451 * [taylor]: Taking taylor expansion of (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2))) in lambda1 10.451 * [taylor]: Taking taylor expansion of (* 0.5 (pow lambda1 2)) in lambda1 10.451 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.451 * [backup-simplify]: Simplify 0.5 into 0.5 10.451 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 10.451 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.451 * [backup-simplify]: Simplify 0 into 0 10.451 * [backup-simplify]: Simplify 1 into 1 10.451 * [taylor]: Taking taylor expansion of (* 0.5 (pow lambda2 2)) in lambda1 10.451 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.451 * [backup-simplify]: Simplify 0.5 into 0.5 10.451 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 10.451 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.451 * [backup-simplify]: Simplify lambda2 into lambda2 10.451 * [backup-simplify]: Simplify (* lambda2 0) into 0 10.451 * [backup-simplify]: Simplify (* 1.0 0) into 0 10.451 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.452 * [backup-simplify]: Simplify (* 0.5 (pow lambda2 2)) into (* 0.5 (pow lambda2 2)) 10.452 * [backup-simplify]: Simplify (+ 0 (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 10.452 * [backup-simplify]: Simplify (- (* 0.5 (pow lambda2 2))) into (- (* 0.5 (pow lambda2 2))) 10.452 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (pow lambda2 2)))) into (- (* 0.5 (pow lambda2 2))) 10.452 * [taylor]: Taking taylor expansion of (- (* 0.5 (pow lambda2 2))) in lambda2 10.452 * [taylor]: Taking taylor expansion of (* 0.5 (pow lambda2 2)) in lambda2 10.452 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.452 * [backup-simplify]: Simplify 0.5 into 0.5 10.452 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.452 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.452 * [backup-simplify]: Simplify 0 into 0 10.452 * [backup-simplify]: Simplify 1 into 1 10.452 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 10.454 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 10.456 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 10.457 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda2 2)))) into (- (* 0.25 (pow lambda2 2))) 10.457 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 10.459 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 10.461 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 10.462 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 10.462 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda2 2))) (- (* 0.25 (pow lambda1 2)))) into (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 10.463 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 10.464 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 10.470 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 10.471 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* lambda2 lambda1)))) into (- (* 0.25 (* lambda2 lambda1))) 10.472 * [backup-simplify]: Simplify (+ (* 2 (- (* 0.25 (* lambda2 lambda1)))) (+ (* 0 0) (* 0 (* lambda2 lambda1)))) into (- (* 0.5 (* lambda2 lambda1))) 10.472 * [backup-simplify]: Simplify (- (- (* 0.5 (* lambda2 lambda1)))) into (* 0.5 (* lambda2 lambda1)) 10.472 * [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)))) 10.472 * [taylor]: Taking taylor expansion of (- (* 0.5 (* lambda2 lambda1)) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda1 10.472 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda1 10.472 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.472 * [backup-simplify]: Simplify 0.5 into 0.5 10.472 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 10.472 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.472 * [backup-simplify]: Simplify lambda2 into lambda2 10.472 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.472 * [backup-simplify]: Simplify 0 into 0 10.472 * [backup-simplify]: Simplify 1 into 1 10.472 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda1 10.472 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 10.472 * [taylor]: Taking taylor expansion of 0.25 in lambda1 10.473 * [backup-simplify]: Simplify 0.25 into 0.25 10.473 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 10.473 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.473 * [backup-simplify]: Simplify 0 into 0 10.473 * [backup-simplify]: Simplify 1 into 1 10.473 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda1 10.473 * [taylor]: Taking taylor expansion of 0.25 in lambda1 10.473 * [backup-simplify]: Simplify 0.25 into 0.25 10.473 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 10.473 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.473 * [backup-simplify]: Simplify lambda2 into lambda2 10.473 * [backup-simplify]: Simplify (* lambda2 0) into 0 10.473 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.473 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.473 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 10.473 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda2 2))) into (* 0.25 (pow lambda2 2)) 10.473 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda2 2))) into (- (* 0.25 (pow lambda2 2))) 10.474 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (pow lambda2 2)))) into (- (* 0.25 (pow lambda2 2))) 10.474 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow lambda2 2))) in lambda2 10.474 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 10.474 * [taylor]: Taking taylor expansion of 0.25 in lambda2 10.474 * [backup-simplify]: Simplify 0.25 into 0.25 10.474 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.474 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.474 * [backup-simplify]: Simplify 0 into 0 10.474 * [backup-simplify]: Simplify 1 into 1 10.474 * [taylor]: Taking taylor expansion of 0 in lambda2 10.474 * [backup-simplify]: Simplify 0 into 0 10.474 * [backup-simplify]: Simplify 0 into 0 10.474 * [taylor]: Taking taylor expansion of 0 in lambda2 10.474 * [backup-simplify]: Simplify 0 into 0 10.474 * [backup-simplify]: Simplify 0 into 0 10.474 * [backup-simplify]: Simplify (* 1 1) into 1 10.474 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 10.475 * [backup-simplify]: Simplify (+ 1 0) into 1 10.475 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 10.476 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 lambda2) (* 0 0))) into 0 10.476 * [backup-simplify]: Simplify (- 0) into 0 10.476 * [backup-simplify]: Simplify (+ 1 0) into 1 10.476 * [taylor]: Taking taylor expansion of 1 in lambda2 10.476 * [backup-simplify]: Simplify 1 into 1 10.476 * [backup-simplify]: Simplify 1 into 1 10.476 * [backup-simplify]: Simplify 0 into 0 10.476 * [backup-simplify]: Simplify 0 into 0 10.477 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2 10.477 * [backup-simplify]: Simplify (- 2) into -2 10.477 * [backup-simplify]: Simplify -2 into -2 10.477 * [backup-simplify]: Simplify (* 1 1) into 1 10.477 * [backup-simplify]: Simplify 1 into 1 10.478 * [backup-simplify]: Simplify (+ (* 1 (pow (* lambda2 (* 1 (* 1 1))) 2)) (+ (* -2 (* lambda2 (* lambda1 (* 1 1)))) (* 1 (pow (* 1 (* lambda1 (* 1 1))) 2)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 10.479 * [backup-simplify]: Simplify (- (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (+ (pow (/ 1 lambda1) 2) (pow (/ 1 lambda2) 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 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 10.479 * [approximate]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in (phi2 phi1 lambda1 lambda2) around 0 10.479 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 10.479 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) in lambda2 10.479 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 10.479 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.479 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.479 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.479 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.479 * [backup-simplify]: Simplify 0.5 into 0.5 10.479 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.479 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.479 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.479 * [backup-simplify]: Simplify phi1 into phi1 10.479 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.479 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.479 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.479 * [backup-simplify]: Simplify phi2 into phi2 10.479 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.480 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.480 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.480 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.480 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.480 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.480 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.480 * [backup-simplify]: Simplify (- 0) into 0 10.480 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.480 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 10.481 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.481 * [backup-simplify]: Simplify lambda1 into lambda1 10.481 * [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) 10.481 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.481 * [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)) 10.481 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 10.481 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.481 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.481 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.481 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.481 * [backup-simplify]: Simplify 0.5 into 0.5 10.481 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.481 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.481 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.481 * [backup-simplify]: Simplify phi1 into phi1 10.481 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.481 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.481 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.481 * [backup-simplify]: Simplify phi2 into phi2 10.481 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.481 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.482 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.482 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.482 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.482 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.482 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.482 * [backup-simplify]: Simplify (- 0) into 0 10.482 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.482 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.482 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.482 * [backup-simplify]: Simplify 0 into 0 10.482 * [backup-simplify]: Simplify 1 into 1 10.483 * [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) 10.483 * [backup-simplify]: Simplify (* 1 1) into 1 10.483 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.483 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 10.483 * [taylor]: Taking taylor expansion of 2 in lambda2 10.483 * [backup-simplify]: Simplify 2 into 2 10.483 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 10.483 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.483 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.483 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.483 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.483 * [backup-simplify]: Simplify 0.5 into 0.5 10.483 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.483 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.483 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.483 * [backup-simplify]: Simplify phi1 into phi1 10.483 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.483 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.483 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.483 * [backup-simplify]: Simplify phi2 into phi2 10.484 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.484 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.484 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.484 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.484 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.484 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.485 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.485 * [backup-simplify]: Simplify (- 0) into 0 10.485 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.485 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 10.485 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.485 * [backup-simplify]: Simplify 0 into 0 10.485 * [backup-simplify]: Simplify 1 into 1 10.485 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.486 * [backup-simplify]: Simplify lambda1 into lambda1 10.486 * [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) 10.486 * [backup-simplify]: Simplify (* 0 lambda1) into 0 10.486 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 10.487 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 10.487 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 10.487 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) in lambda1 10.487 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 10.487 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.487 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.487 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.487 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.487 * [backup-simplify]: Simplify 0.5 into 0.5 10.487 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.487 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.487 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.487 * [backup-simplify]: Simplify phi1 into phi1 10.487 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.487 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.487 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.487 * [backup-simplify]: Simplify phi2 into phi2 10.487 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.488 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.488 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.488 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.488 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.488 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.489 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.489 * [backup-simplify]: Simplify (- 0) into 0 10.489 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.489 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 10.489 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.489 * [backup-simplify]: Simplify 0 into 0 10.489 * [backup-simplify]: Simplify 1 into 1 10.490 * [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) 10.490 * [backup-simplify]: Simplify (* 1 1) into 1 10.491 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.491 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 10.491 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.491 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.491 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.491 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.491 * [backup-simplify]: Simplify 0.5 into 0.5 10.491 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.491 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.491 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.491 * [backup-simplify]: Simplify phi1 into phi1 10.491 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.491 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.491 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.491 * [backup-simplify]: Simplify phi2 into phi2 10.491 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.491 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.491 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.492 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.492 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.492 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.492 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.493 * [backup-simplify]: Simplify (- 0) into 0 10.493 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.493 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 10.493 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.493 * [backup-simplify]: Simplify lambda2 into lambda2 10.493 * [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) 10.494 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.494 * [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)) 10.494 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 10.494 * [taylor]: Taking taylor expansion of 2 in lambda1 10.494 * [backup-simplify]: Simplify 2 into 2 10.494 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 10.494 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.494 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.494 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.494 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.494 * [backup-simplify]: Simplify 0.5 into 0.5 10.494 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.494 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.494 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.494 * [backup-simplify]: Simplify phi1 into phi1 10.494 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.494 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.495 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.495 * [backup-simplify]: Simplify phi2 into phi2 10.495 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.495 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.495 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.495 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.495 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.496 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.496 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.497 * [backup-simplify]: Simplify (- 0) into 0 10.497 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.497 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 10.497 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.497 * [backup-simplify]: Simplify lambda2 into lambda2 10.497 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.497 * [backup-simplify]: Simplify 0 into 0 10.497 * [backup-simplify]: Simplify 1 into 1 10.498 * [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) 10.498 * [backup-simplify]: Simplify (* lambda2 0) into 0 10.499 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 10.499 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 10.499 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 10.499 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) in phi1 10.499 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 10.499 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.499 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.499 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.499 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.500 * [backup-simplify]: Simplify 0.5 into 0.5 10.500 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.500 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.500 * [taylor]: Taking taylor expansion of phi1 in phi1 10.500 * [backup-simplify]: Simplify 0 into 0 10.500 * [backup-simplify]: Simplify 1 into 1 10.500 * [backup-simplify]: Simplify (/ 1 1) into 1 10.500 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.500 * [taylor]: Taking taylor expansion of phi2 in phi1 10.500 * [backup-simplify]: Simplify phi2 into phi2 10.500 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.501 * [backup-simplify]: Simplify (+ 1 0) into 1 10.501 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.502 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.502 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 10.502 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.502 * [backup-simplify]: Simplify lambda1 into lambda1 10.502 * [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) 10.502 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.503 * [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)) 10.503 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 10.503 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.503 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.503 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.503 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.503 * [backup-simplify]: Simplify 0.5 into 0.5 10.503 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.503 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.503 * [taylor]: Taking taylor expansion of phi1 in phi1 10.503 * [backup-simplify]: Simplify 0 into 0 10.503 * [backup-simplify]: Simplify 1 into 1 10.503 * [backup-simplify]: Simplify (/ 1 1) into 1 10.504 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.504 * [taylor]: Taking taylor expansion of phi2 in phi1 10.504 * [backup-simplify]: Simplify phi2 into phi2 10.504 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.504 * [backup-simplify]: Simplify (+ 1 0) into 1 10.505 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.505 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.505 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 10.505 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.505 * [backup-simplify]: Simplify lambda2 into lambda2 10.505 * [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) 10.505 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.506 * [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)) 10.506 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 10.506 * [taylor]: Taking taylor expansion of 2 in phi1 10.506 * [backup-simplify]: Simplify 2 into 2 10.506 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 10.506 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.506 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.506 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.506 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.506 * [backup-simplify]: Simplify 0.5 into 0.5 10.506 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.506 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.506 * [taylor]: Taking taylor expansion of phi1 in phi1 10.506 * [backup-simplify]: Simplify 0 into 0 10.506 * [backup-simplify]: Simplify 1 into 1 10.506 * [backup-simplify]: Simplify (/ 1 1) into 1 10.507 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.507 * [taylor]: Taking taylor expansion of phi2 in phi1 10.507 * [backup-simplify]: Simplify phi2 into phi2 10.507 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.507 * [backup-simplify]: Simplify (+ 1 0) into 1 10.507 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.508 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.508 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 10.508 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.508 * [backup-simplify]: Simplify lambda2 into lambda2 10.508 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.508 * [backup-simplify]: Simplify lambda1 into lambda1 10.508 * [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) 10.508 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.509 * [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)) 10.509 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2 10.509 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) in phi2 10.509 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 10.509 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.509 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.509 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.509 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.509 * [backup-simplify]: Simplify 0.5 into 0.5 10.509 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.509 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.509 * [taylor]: Taking taylor expansion of phi1 in phi2 10.509 * [backup-simplify]: Simplify phi1 into phi1 10.509 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.509 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.509 * [taylor]: Taking taylor expansion of phi2 in phi2 10.509 * [backup-simplify]: Simplify 0 into 0 10.509 * [backup-simplify]: Simplify 1 into 1 10.510 * [backup-simplify]: Simplify (/ 1 1) into 1 10.510 * [backup-simplify]: Simplify (+ 0 1) into 1 10.510 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.511 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.511 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 10.511 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.511 * [backup-simplify]: Simplify lambda1 into lambda1 10.511 * [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) 10.511 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.512 * [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)) 10.512 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 10.512 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.512 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.512 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.512 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.512 * [backup-simplify]: Simplify 0.5 into 0.5 10.512 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.512 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.512 * [taylor]: Taking taylor expansion of phi1 in phi2 10.512 * [backup-simplify]: Simplify phi1 into phi1 10.512 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.512 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.512 * [taylor]: Taking taylor expansion of phi2 in phi2 10.512 * [backup-simplify]: Simplify 0 into 0 10.512 * [backup-simplify]: Simplify 1 into 1 10.513 * [backup-simplify]: Simplify (/ 1 1) into 1 10.513 * [backup-simplify]: Simplify (+ 0 1) into 1 10.513 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.514 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.514 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 10.514 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.514 * [backup-simplify]: Simplify lambda2 into lambda2 10.514 * [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) 10.514 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.515 * [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)) 10.515 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 10.515 * [taylor]: Taking taylor expansion of 2 in phi2 10.515 * [backup-simplify]: Simplify 2 into 2 10.515 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 10.515 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.515 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.515 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.515 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.515 * [backup-simplify]: Simplify 0.5 into 0.5 10.515 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.515 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.515 * [taylor]: Taking taylor expansion of phi1 in phi2 10.515 * [backup-simplify]: Simplify phi1 into phi1 10.515 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.515 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.515 * [taylor]: Taking taylor expansion of phi2 in phi2 10.515 * [backup-simplify]: Simplify 0 into 0 10.515 * [backup-simplify]: Simplify 1 into 1 10.516 * [backup-simplify]: Simplify (/ 1 1) into 1 10.516 * [backup-simplify]: Simplify (+ 0 1) into 1 10.516 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.517 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.517 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 10.517 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.517 * [backup-simplify]: Simplify lambda2 into lambda2 10.517 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.517 * [backup-simplify]: Simplify lambda1 into lambda1 10.517 * [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) 10.517 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.518 * [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)) 10.518 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2 10.518 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) in phi2 10.518 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 10.518 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.518 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.518 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.518 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.518 * [backup-simplify]: Simplify 0.5 into 0.5 10.518 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.518 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.518 * [taylor]: Taking taylor expansion of phi1 in phi2 10.518 * [backup-simplify]: Simplify phi1 into phi1 10.518 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.518 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.518 * [taylor]: Taking taylor expansion of phi2 in phi2 10.518 * [backup-simplify]: Simplify 0 into 0 10.518 * [backup-simplify]: Simplify 1 into 1 10.519 * [backup-simplify]: Simplify (/ 1 1) into 1 10.519 * [backup-simplify]: Simplify (+ 0 1) into 1 10.519 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.520 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.520 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 10.520 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.520 * [backup-simplify]: Simplify lambda1 into lambda1 10.520 * [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) 10.520 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.521 * [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)) 10.521 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 10.521 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.521 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.521 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.521 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.521 * [backup-simplify]: Simplify 0.5 into 0.5 10.521 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.521 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.521 * [taylor]: Taking taylor expansion of phi1 in phi2 10.521 * [backup-simplify]: Simplify phi1 into phi1 10.521 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.521 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.521 * [taylor]: Taking taylor expansion of phi2 in phi2 10.521 * [backup-simplify]: Simplify 0 into 0 10.521 * [backup-simplify]: Simplify 1 into 1 10.522 * [backup-simplify]: Simplify (/ 1 1) into 1 10.522 * [backup-simplify]: Simplify (+ 0 1) into 1 10.523 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.523 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.523 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 10.523 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.523 * [backup-simplify]: Simplify lambda2 into lambda2 10.523 * [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) 10.523 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.524 * [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)) 10.524 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 10.524 * [taylor]: Taking taylor expansion of 2 in phi2 10.524 * [backup-simplify]: Simplify 2 into 2 10.524 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 10.524 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.524 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.524 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.524 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.524 * [backup-simplify]: Simplify 0.5 into 0.5 10.524 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.524 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.524 * [taylor]: Taking taylor expansion of phi1 in phi2 10.524 * [backup-simplify]: Simplify phi1 into phi1 10.524 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.524 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.524 * [taylor]: Taking taylor expansion of phi2 in phi2 10.524 * [backup-simplify]: Simplify 0 into 0 10.524 * [backup-simplify]: Simplify 1 into 1 10.525 * [backup-simplify]: Simplify (/ 1 1) into 1 10.525 * [backup-simplify]: Simplify (+ 0 1) into 1 10.525 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.526 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.526 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 10.526 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.526 * [backup-simplify]: Simplify lambda2 into lambda2 10.526 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.526 * [backup-simplify]: Simplify lambda1 into lambda1 10.526 * [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) 10.526 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.526 * [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)) 10.527 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) 10.528 * [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))) 10.528 * [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)))) 10.530 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (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 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 10.530 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 10.530 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) in phi1 10.530 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 10.530 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.530 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.530 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.530 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.530 * [backup-simplify]: Simplify 0.5 into 0.5 10.530 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.530 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.530 * [taylor]: Taking taylor expansion of phi1 in phi1 10.530 * [backup-simplify]: Simplify 0 into 0 10.530 * [backup-simplify]: Simplify 1 into 1 10.531 * [backup-simplify]: Simplify (/ 1 1) into 1 10.531 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.531 * [taylor]: Taking taylor expansion of phi2 in phi1 10.531 * [backup-simplify]: Simplify phi2 into phi2 10.531 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.532 * [backup-simplify]: Simplify (+ 1 0) into 1 10.532 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.532 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.532 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 10.532 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.532 * [backup-simplify]: Simplify lambda1 into lambda1 10.533 * [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) 10.533 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.533 * [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)) 10.533 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 10.533 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.533 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.533 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.533 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.533 * [backup-simplify]: Simplify 0.5 into 0.5 10.533 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.534 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.534 * [taylor]: Taking taylor expansion of phi1 in phi1 10.534 * [backup-simplify]: Simplify 0 into 0 10.534 * [backup-simplify]: Simplify 1 into 1 10.534 * [backup-simplify]: Simplify (/ 1 1) into 1 10.534 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.534 * [taylor]: Taking taylor expansion of phi2 in phi1 10.534 * [backup-simplify]: Simplify phi2 into phi2 10.534 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.535 * [backup-simplify]: Simplify (+ 1 0) into 1 10.535 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.535 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.535 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 10.535 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.535 * [backup-simplify]: Simplify lambda2 into lambda2 10.536 * [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) 10.536 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.536 * [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)) 10.536 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 10.536 * [taylor]: Taking taylor expansion of 2 in phi1 10.536 * [backup-simplify]: Simplify 2 into 2 10.536 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 10.536 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.536 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.536 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.537 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.537 * [backup-simplify]: Simplify 0.5 into 0.5 10.537 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.537 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.537 * [taylor]: Taking taylor expansion of phi1 in phi1 10.537 * [backup-simplify]: Simplify 0 into 0 10.537 * [backup-simplify]: Simplify 1 into 1 10.537 * [backup-simplify]: Simplify (/ 1 1) into 1 10.537 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.537 * [taylor]: Taking taylor expansion of phi2 in phi1 10.537 * [backup-simplify]: Simplify phi2 into phi2 10.537 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.538 * [backup-simplify]: Simplify (+ 1 0) into 1 10.538 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.538 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.538 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 10.538 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.538 * [backup-simplify]: Simplify lambda2 into lambda2 10.538 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.538 * [backup-simplify]: Simplify lambda1 into lambda1 10.539 * [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) 10.539 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.539 * [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)) 10.540 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) 10.540 * [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))) 10.541 * [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)))) 10.542 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (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 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 10.542 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 10.542 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))) in lambda1 10.543 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 10.543 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.543 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.543 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.543 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.543 * [backup-simplify]: Simplify 0.5 into 0.5 10.543 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.543 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.543 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.543 * [backup-simplify]: Simplify phi1 into phi1 10.543 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.543 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.543 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.543 * [backup-simplify]: Simplify phi2 into phi2 10.543 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.543 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.543 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.543 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.544 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.544 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.544 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.545 * [backup-simplify]: Simplify (- 0) into 0 10.545 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.545 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 10.545 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.545 * [backup-simplify]: Simplify 0 into 0 10.545 * [backup-simplify]: Simplify 1 into 1 10.545 * [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) 10.546 * [backup-simplify]: Simplify (* 1 1) into 1 10.546 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.546 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 10.546 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.546 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.546 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.546 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.546 * [backup-simplify]: Simplify 0.5 into 0.5 10.546 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.546 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.546 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.546 * [backup-simplify]: Simplify phi1 into phi1 10.546 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.546 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.546 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.547 * [backup-simplify]: Simplify phi2 into phi2 10.547 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.547 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.547 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.547 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.547 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.547 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.548 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.548 * [backup-simplify]: Simplify (- 0) into 0 10.548 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.548 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 10.548 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.548 * [backup-simplify]: Simplify lambda2 into lambda2 10.549 * [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) 10.549 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.549 * [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)) 10.549 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 10.549 * [taylor]: Taking taylor expansion of 2 in lambda1 10.549 * [backup-simplify]: Simplify 2 into 2 10.549 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 10.549 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.549 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.550 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.550 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.550 * [backup-simplify]: Simplify 0.5 into 0.5 10.550 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.550 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.550 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.550 * [backup-simplify]: Simplify phi1 into phi1 10.550 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.550 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.550 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.550 * [backup-simplify]: Simplify phi2 into phi2 10.550 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.550 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.550 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.550 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.551 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.551 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.551 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.551 * [backup-simplify]: Simplify (- 0) into 0 10.552 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.552 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 10.552 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.552 * [backup-simplify]: Simplify lambda2 into lambda2 10.552 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.552 * [backup-simplify]: Simplify 0 into 0 10.552 * [backup-simplify]: Simplify 1 into 1 10.552 * [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) 10.552 * [backup-simplify]: Simplify (* lambda2 0) into 0 10.553 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 10.553 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 10.553 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.554 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.554 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.554 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.554 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.554 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.554 * [backup-simplify]: Simplify 0.5 into 0.5 10.554 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.554 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.554 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.554 * [backup-simplify]: Simplify phi1 into phi1 10.554 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.554 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.554 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.554 * [backup-simplify]: Simplify phi2 into phi2 10.554 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.554 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.554 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.555 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.555 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.555 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.555 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.556 * [backup-simplify]: Simplify (- 0) into 0 10.556 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.556 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.556 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 10.557 * [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 10.557 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.558 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 10.558 * [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 10.559 * [backup-simplify]: Simplify (+ 0 0) into 0 10.559 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.559 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 10.560 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 10.561 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 10.561 * [backup-simplify]: Simplify (- 0) into 0 10.561 * [backup-simplify]: Simplify (+ 0 0) into 0 10.561 * [taylor]: Taking taylor expansion of 0 in phi1 10.561 * [backup-simplify]: Simplify 0 into 0 10.561 * [taylor]: Taking taylor expansion of 0 in lambda1 10.561 * [backup-simplify]: Simplify 0 into 0 10.562 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.562 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 10.563 * [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 10.563 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.563 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 10.564 * [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 10.564 * [backup-simplify]: Simplify (+ 0 0) into 0 10.565 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.565 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 10.565 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 10.566 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 10.566 * [backup-simplify]: Simplify (- 0) into 0 10.567 * [backup-simplify]: Simplify (+ 0 0) into 0 10.567 * [taylor]: Taking taylor expansion of 0 in lambda1 10.567 * [backup-simplify]: Simplify 0 into 0 10.567 * [backup-simplify]: Simplify (+ 0) into 0 10.568 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.568 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.568 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.569 * [backup-simplify]: Simplify (+ 0 0) into 0 10.569 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.570 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.571 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.571 * [backup-simplify]: Simplify (- 0) into 0 10.572 * [backup-simplify]: Simplify (+ 0 0) into 0 10.572 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.573 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.574 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 10.574 * [backup-simplify]: Simplify (+ 0 0) into 0 10.575 * [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)) 10.575 * [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))) 10.576 * [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))) 10.576 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2 10.576 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 10.576 * [taylor]: Taking taylor expansion of 2 in lambda2 10.576 * [backup-simplify]: Simplify 2 into 2 10.576 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 10.576 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.576 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.576 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.576 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.576 * [backup-simplify]: Simplify 0.5 into 0.5 10.576 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.576 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.576 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.576 * [backup-simplify]: Simplify phi1 into phi1 10.576 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.576 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.576 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.576 * [backup-simplify]: Simplify phi2 into phi2 10.576 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.576 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.577 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.577 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.577 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.577 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.577 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.578 * [backup-simplify]: Simplify (- 0) into 0 10.578 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.578 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.578 * [backup-simplify]: Simplify 0 into 0 10.578 * [backup-simplify]: Simplify 1 into 1 10.578 * [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) 10.579 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.580 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.580 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 10.581 * [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 10.582 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.582 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 10.583 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 10.583 * [backup-simplify]: Simplify (+ 0 0) into 0 10.584 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.585 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 10.585 * [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 10.586 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into 0 10.587 * [backup-simplify]: Simplify (- 0) into 0 10.587 * [backup-simplify]: Simplify (+ 0 0) into 0 10.587 * [taylor]: Taking taylor expansion of 0 in phi1 10.587 * [backup-simplify]: Simplify 0 into 0 10.587 * [taylor]: Taking taylor expansion of 0 in lambda1 10.587 * [backup-simplify]: Simplify 0 into 0 10.587 * [taylor]: Taking taylor expansion of 0 in lambda1 10.587 * [backup-simplify]: Simplify 0 into 0 10.588 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.589 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 10.589 * [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 10.590 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.591 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 10.591 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 10.592 * [backup-simplify]: Simplify (+ 0 0) into 0 10.593 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.593 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 10.594 * [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 10.596 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into 0 10.596 * [backup-simplify]: Simplify (- 0) into 0 10.597 * [backup-simplify]: Simplify (+ 0 0) into 0 10.597 * [taylor]: Taking taylor expansion of 0 in lambda1 10.597 * [backup-simplify]: Simplify 0 into 0 10.598 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.598 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.599 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.599 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.599 * [backup-simplify]: Simplify (+ 0 0) into 0 10.600 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.601 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.602 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.602 * [backup-simplify]: Simplify (- 0) into 0 10.602 * [backup-simplify]: Simplify (+ 0 0) into 0 10.603 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.604 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 10.606 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.606 * [backup-simplify]: Simplify (+ 0 (/ (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)) 10.607 * [backup-simplify]: Simplify (+ 0) into 0 10.607 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.607 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.608 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.608 * [backup-simplify]: Simplify (+ 0 0) into 0 10.609 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.609 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.610 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.610 * [backup-simplify]: Simplify (- 0) into 0 10.611 * [backup-simplify]: Simplify (+ 0 0) into 0 10.611 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.612 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 10.612 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 10.613 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 10.613 * [backup-simplify]: Simplify (- 0) into 0 10.614 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 10.614 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 10.614 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.614 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.614 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.614 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.614 * [backup-simplify]: Simplify 0.5 into 0.5 10.614 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.614 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.614 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.614 * [backup-simplify]: Simplify phi1 into phi1 10.614 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.614 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.614 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.614 * [backup-simplify]: Simplify phi2 into phi2 10.614 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.615 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.615 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.615 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.615 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.615 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.616 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.616 * [backup-simplify]: Simplify (- 0) into 0 10.616 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.616 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.616 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.616 * [backup-simplify]: Simplify 0 into 0 10.616 * [backup-simplify]: Simplify 1 into 1 10.617 * [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) 10.617 * [backup-simplify]: Simplify (* 1 1) into 1 10.617 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.618 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.618 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 10.618 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 10.619 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 10.619 * [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) 10.620 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.623 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* 1 (* (/ 1 (/ 1 lambda1)) (* 1 1))) 2)) (+ (* (- (* 2 (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* (/ 1 (/ 1 lambda2)) (* (/ 1 (/ 1 lambda1)) (* 1 1)))) (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* (/ 1 (/ 1 lambda2)) (* 1 (* 1 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)))) 10.624 * [backup-simplify]: Simplify (- (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (+ (pow (/ 1 (- lambda1)) 2) (pow (/ 1 (- lambda2)) 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 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)))) 10.624 * [approximate]: 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))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in (phi2 phi1 lambda1 lambda2) around 0 10.625 * [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))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 10.625 * [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))) in lambda2 10.625 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 10.625 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.625 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.625 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.625 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.625 * [backup-simplify]: Simplify -0.5 into -0.5 10.625 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.625 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.625 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.625 * [backup-simplify]: Simplify phi1 into phi1 10.625 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.625 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.625 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.625 * [backup-simplify]: Simplify phi2 into phi2 10.625 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.625 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.625 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.626 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.626 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.626 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.626 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.627 * [backup-simplify]: Simplify (- 0) into 0 10.627 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.627 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.627 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.627 * [backup-simplify]: Simplify 0 into 0 10.627 * [backup-simplify]: Simplify 1 into 1 10.628 * [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) 10.628 * [backup-simplify]: Simplify (* 1 1) into 1 10.628 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.628 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 10.629 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.629 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.629 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.629 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.629 * [backup-simplify]: Simplify -0.5 into -0.5 10.629 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.629 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.629 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.629 * [backup-simplify]: Simplify phi1 into phi1 10.629 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.629 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.629 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.629 * [backup-simplify]: Simplify phi2 into phi2 10.629 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.629 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.629 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.629 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.630 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.630 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.630 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.630 * [backup-simplify]: Simplify (- 0) into 0 10.631 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.631 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 10.631 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.631 * [backup-simplify]: Simplify lambda1 into lambda1 10.631 * [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) 10.631 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.632 * [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)) 10.632 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 10.632 * [taylor]: Taking taylor expansion of 2 in lambda2 10.632 * [backup-simplify]: Simplify 2 into 2 10.632 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 10.632 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.632 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.632 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.632 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.632 * [backup-simplify]: Simplify -0.5 into -0.5 10.632 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.632 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.632 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.632 * [backup-simplify]: Simplify phi1 into phi1 10.632 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.632 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.632 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.632 * [backup-simplify]: Simplify phi2 into phi2 10.633 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.633 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.633 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.633 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.633 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.633 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.634 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.638 * [backup-simplify]: Simplify (- 0) into 0 10.639 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.639 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 10.639 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.639 * [backup-simplify]: Simplify 0 into 0 10.639 * [backup-simplify]: Simplify 1 into 1 10.639 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.639 * [backup-simplify]: Simplify lambda1 into lambda1 10.639 * [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) 10.639 * [backup-simplify]: Simplify (* 0 lambda1) into 0 10.640 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 10.641 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 10.641 * [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))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 10.641 * [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))) in lambda1 10.641 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 10.641 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.641 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.641 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.641 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.641 * [backup-simplify]: Simplify -0.5 into -0.5 10.641 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.641 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.641 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.641 * [backup-simplify]: Simplify phi1 into phi1 10.641 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.641 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.641 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.641 * [backup-simplify]: Simplify phi2 into phi2 10.641 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.641 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.642 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.642 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.642 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.642 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.643 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.643 * [backup-simplify]: Simplify (- 0) into 0 10.643 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.643 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 10.643 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.643 * [backup-simplify]: Simplify lambda2 into lambda2 10.644 * [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) 10.644 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.644 * [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)) 10.644 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 10.644 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.644 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.644 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.644 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.645 * [backup-simplify]: Simplify -0.5 into -0.5 10.645 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.645 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.645 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.645 * [backup-simplify]: Simplify phi1 into phi1 10.645 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.645 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.645 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.645 * [backup-simplify]: Simplify phi2 into phi2 10.645 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.645 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.645 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.645 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.646 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.646 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.646 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.646 * [backup-simplify]: Simplify (- 0) into 0 10.647 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.647 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 10.647 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.647 * [backup-simplify]: Simplify 0 into 0 10.647 * [backup-simplify]: Simplify 1 into 1 10.647 * [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) 10.648 * [backup-simplify]: Simplify (* 1 1) into 1 10.648 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.648 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 10.648 * [taylor]: Taking taylor expansion of 2 in lambda1 10.648 * [backup-simplify]: Simplify 2 into 2 10.648 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 10.648 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.648 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.648 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.648 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.648 * [backup-simplify]: Simplify -0.5 into -0.5 10.648 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.648 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.648 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.648 * [backup-simplify]: Simplify phi1 into phi1 10.648 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.648 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.648 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.648 * [backup-simplify]: Simplify phi2 into phi2 10.649 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.649 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.649 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.649 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.649 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.649 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.650 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.650 * [backup-simplify]: Simplify (- 0) into 0 10.650 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.650 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 10.650 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.650 * [backup-simplify]: Simplify lambda2 into lambda2 10.650 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.650 * [backup-simplify]: Simplify 0 into 0 10.650 * [backup-simplify]: Simplify 1 into 1 10.651 * [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) 10.651 * [backup-simplify]: Simplify (* lambda2 0) into 0 10.651 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 10.652 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 10.652 * [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))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 10.652 * [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))) in phi1 10.652 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 10.652 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.652 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.652 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.652 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.652 * [backup-simplify]: Simplify -0.5 into -0.5 10.652 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.652 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.652 * [taylor]: Taking taylor expansion of phi1 in phi1 10.652 * [backup-simplify]: Simplify 0 into 0 10.652 * [backup-simplify]: Simplify 1 into 1 10.653 * [backup-simplify]: Simplify (/ 1 1) into 1 10.653 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.653 * [taylor]: Taking taylor expansion of phi2 in phi1 10.653 * [backup-simplify]: Simplify phi2 into phi2 10.653 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.653 * [backup-simplify]: Simplify (+ 1 0) into 1 10.654 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.654 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.654 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 10.654 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.654 * [backup-simplify]: Simplify lambda2 into lambda2 10.654 * [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) 10.654 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.655 * [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)) 10.655 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 10.655 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.655 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.655 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.655 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.655 * [backup-simplify]: Simplify -0.5 into -0.5 10.655 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.655 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.655 * [taylor]: Taking taylor expansion of phi1 in phi1 10.655 * [backup-simplify]: Simplify 0 into 0 10.655 * [backup-simplify]: Simplify 1 into 1 10.656 * [backup-simplify]: Simplify (/ 1 1) into 1 10.656 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.656 * [taylor]: Taking taylor expansion of phi2 in phi1 10.656 * [backup-simplify]: Simplify phi2 into phi2 10.656 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.656 * [backup-simplify]: Simplify (+ 1 0) into 1 10.657 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.657 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.657 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 10.657 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.657 * [backup-simplify]: Simplify lambda1 into lambda1 10.657 * [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) 10.658 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.658 * [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)) 10.658 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 10.658 * [taylor]: Taking taylor expansion of 2 in phi1 10.658 * [backup-simplify]: Simplify 2 into 2 10.658 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 10.658 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.658 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.658 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.658 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.658 * [backup-simplify]: Simplify -0.5 into -0.5 10.658 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.658 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.658 * [taylor]: Taking taylor expansion of phi1 in phi1 10.658 * [backup-simplify]: Simplify 0 into 0 10.658 * [backup-simplify]: Simplify 1 into 1 10.659 * [backup-simplify]: Simplify (/ 1 1) into 1 10.659 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.659 * [taylor]: Taking taylor expansion of phi2 in phi1 10.659 * [backup-simplify]: Simplify phi2 into phi2 10.659 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.659 * [backup-simplify]: Simplify (+ 1 0) into 1 10.660 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.660 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.660 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 10.660 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.660 * [backup-simplify]: Simplify lambda2 into lambda2 10.660 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.660 * [backup-simplify]: Simplify lambda1 into lambda1 10.661 * [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) 10.661 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.661 * [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)) 10.661 * [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))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2 10.661 * [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))) in phi2 10.661 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 10.661 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.661 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.661 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.661 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.661 * [backup-simplify]: Simplify -0.5 into -0.5 10.661 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.661 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.661 * [taylor]: Taking taylor expansion of phi1 in phi2 10.661 * [backup-simplify]: Simplify phi1 into phi1 10.662 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.662 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.662 * [taylor]: Taking taylor expansion of phi2 in phi2 10.662 * [backup-simplify]: Simplify 0 into 0 10.662 * [backup-simplify]: Simplify 1 into 1 10.662 * [backup-simplify]: Simplify (/ 1 1) into 1 10.662 * [backup-simplify]: Simplify (+ 0 1) into 1 10.663 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.663 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.663 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 10.663 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.663 * [backup-simplify]: Simplify lambda2 into lambda2 10.664 * [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) 10.664 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.664 * [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)) 10.664 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 10.664 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.664 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.664 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.664 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.664 * [backup-simplify]: Simplify -0.5 into -0.5 10.664 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.664 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.664 * [taylor]: Taking taylor expansion of phi1 in phi2 10.664 * [backup-simplify]: Simplify phi1 into phi1 10.665 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.665 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.665 * [taylor]: Taking taylor expansion of phi2 in phi2 10.665 * [backup-simplify]: Simplify 0 into 0 10.665 * [backup-simplify]: Simplify 1 into 1 10.665 * [backup-simplify]: Simplify (/ 1 1) into 1 10.665 * [backup-simplify]: Simplify (+ 0 1) into 1 10.666 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.666 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.666 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 10.666 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.666 * [backup-simplify]: Simplify lambda1 into lambda1 10.667 * [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) 10.667 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.667 * [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)) 10.667 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 10.667 * [taylor]: Taking taylor expansion of 2 in phi2 10.667 * [backup-simplify]: Simplify 2 into 2 10.667 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 10.667 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.667 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.667 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.667 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.667 * [backup-simplify]: Simplify -0.5 into -0.5 10.667 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.667 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.667 * [taylor]: Taking taylor expansion of phi1 in phi2 10.667 * [backup-simplify]: Simplify phi1 into phi1 10.668 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.668 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.668 * [taylor]: Taking taylor expansion of phi2 in phi2 10.668 * [backup-simplify]: Simplify 0 into 0 10.668 * [backup-simplify]: Simplify 1 into 1 10.668 * [backup-simplify]: Simplify (/ 1 1) into 1 10.668 * [backup-simplify]: Simplify (+ 0 1) into 1 10.669 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.669 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.669 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 10.669 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.669 * [backup-simplify]: Simplify lambda2 into lambda2 10.669 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.669 * [backup-simplify]: Simplify lambda1 into lambda1 10.670 * [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) 10.670 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.670 * [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)) 10.670 * [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))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2 10.670 * [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))) in phi2 10.670 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 10.670 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.670 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.670 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.670 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.670 * [backup-simplify]: Simplify -0.5 into -0.5 10.670 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.670 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.670 * [taylor]: Taking taylor expansion of phi1 in phi2 10.671 * [backup-simplify]: Simplify phi1 into phi1 10.671 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.671 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.671 * [taylor]: Taking taylor expansion of phi2 in phi2 10.671 * [backup-simplify]: Simplify 0 into 0 10.671 * [backup-simplify]: Simplify 1 into 1 10.671 * [backup-simplify]: Simplify (/ 1 1) into 1 10.672 * [backup-simplify]: Simplify (+ 0 1) into 1 10.672 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.672 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.672 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 10.672 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.672 * [backup-simplify]: Simplify lambda2 into lambda2 10.673 * [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) 10.673 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.673 * [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)) 10.673 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 10.673 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.673 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.673 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.673 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.673 * [backup-simplify]: Simplify -0.5 into -0.5 10.673 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.673 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.673 * [taylor]: Taking taylor expansion of phi1 in phi2 10.673 * [backup-simplify]: Simplify phi1 into phi1 10.674 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.674 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.674 * [taylor]: Taking taylor expansion of phi2 in phi2 10.674 * [backup-simplify]: Simplify 0 into 0 10.674 * [backup-simplify]: Simplify 1 into 1 10.674 * [backup-simplify]: Simplify (/ 1 1) into 1 10.674 * [backup-simplify]: Simplify (+ 0 1) into 1 10.675 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.675 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.675 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 10.675 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.675 * [backup-simplify]: Simplify lambda1 into lambda1 10.676 * [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) 10.676 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.676 * [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)) 10.676 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 10.676 * [taylor]: Taking taylor expansion of 2 in phi2 10.676 * [backup-simplify]: Simplify 2 into 2 10.676 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 10.676 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 10.676 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.676 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.676 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.676 * [backup-simplify]: Simplify -0.5 into -0.5 10.676 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.676 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.676 * [taylor]: Taking taylor expansion of phi1 in phi2 10.677 * [backup-simplify]: Simplify phi1 into phi1 10.677 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.677 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.677 * [taylor]: Taking taylor expansion of phi2 in phi2 10.677 * [backup-simplify]: Simplify 0 into 0 10.677 * [backup-simplify]: Simplify 1 into 1 10.677 * [backup-simplify]: Simplify (/ 1 1) into 1 10.678 * [backup-simplify]: Simplify (+ 0 1) into 1 10.678 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.678 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.678 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 10.678 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.678 * [backup-simplify]: Simplify lambda2 into lambda2 10.678 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.678 * [backup-simplify]: Simplify lambda1 into lambda1 10.679 * [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) 10.679 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.679 * [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)) 10.680 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 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 lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) 10.680 * [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))) 10.681 * [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)))) 10.683 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 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))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 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)))) 10.683 * [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))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 10.683 * [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))) in phi1 10.683 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 10.683 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.683 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.683 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.683 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.683 * [backup-simplify]: Simplify -0.5 into -0.5 10.683 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.683 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.683 * [taylor]: Taking taylor expansion of phi1 in phi1 10.683 * [backup-simplify]: Simplify 0 into 0 10.683 * [backup-simplify]: Simplify 1 into 1 10.684 * [backup-simplify]: Simplify (/ 1 1) into 1 10.684 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.684 * [taylor]: Taking taylor expansion of phi2 in phi1 10.684 * [backup-simplify]: Simplify phi2 into phi2 10.684 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.685 * [backup-simplify]: Simplify (+ 1 0) into 1 10.685 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.685 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.685 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 10.685 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.685 * [backup-simplify]: Simplify lambda2 into lambda2 10.686 * [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) 10.686 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.686 * [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)) 10.686 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 10.686 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.686 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.686 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.686 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.686 * [backup-simplify]: Simplify -0.5 into -0.5 10.686 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.686 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.686 * [taylor]: Taking taylor expansion of phi1 in phi1 10.687 * [backup-simplify]: Simplify 0 into 0 10.687 * [backup-simplify]: Simplify 1 into 1 10.687 * [backup-simplify]: Simplify (/ 1 1) into 1 10.687 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.687 * [taylor]: Taking taylor expansion of phi2 in phi1 10.687 * [backup-simplify]: Simplify phi2 into phi2 10.687 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.688 * [backup-simplify]: Simplify (+ 1 0) into 1 10.688 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.688 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.688 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 10.688 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.688 * [backup-simplify]: Simplify lambda1 into lambda1 10.689 * [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) 10.689 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 10.689 * [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)) 10.689 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 10.689 * [taylor]: Taking taylor expansion of 2 in phi1 10.689 * [backup-simplify]: Simplify 2 into 2 10.689 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 10.689 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 10.689 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.689 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.689 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.689 * [backup-simplify]: Simplify -0.5 into -0.5 10.690 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.690 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.690 * [taylor]: Taking taylor expansion of phi1 in phi1 10.690 * [backup-simplify]: Simplify 0 into 0 10.690 * [backup-simplify]: Simplify 1 into 1 10.690 * [backup-simplify]: Simplify (/ 1 1) into 1 10.690 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.690 * [taylor]: Taking taylor expansion of phi2 in phi1 10.690 * [backup-simplify]: Simplify phi2 into phi2 10.690 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.691 * [backup-simplify]: Simplify (+ 1 0) into 1 10.691 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.691 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.691 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 10.691 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.691 * [backup-simplify]: Simplify lambda2 into lambda2 10.691 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.691 * [backup-simplify]: Simplify lambda1 into lambda1 10.692 * [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) 10.692 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 10.692 * [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)) 10.693 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 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 lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) 10.694 * [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))) 10.694 * [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)))) 10.696 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 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))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 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)))) 10.696 * [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))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 10.696 * [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))) in lambda1 10.696 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 10.696 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.696 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.696 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.696 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.696 * [backup-simplify]: Simplify -0.5 into -0.5 10.696 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.696 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.696 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.696 * [backup-simplify]: Simplify phi1 into phi1 10.696 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.696 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.696 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.696 * [backup-simplify]: Simplify phi2 into phi2 10.696 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.696 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.697 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.697 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.697 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.697 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.697 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.698 * [backup-simplify]: Simplify (- 0) into 0 10.698 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.698 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 10.698 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.698 * [backup-simplify]: Simplify lambda2 into lambda2 10.699 * [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) 10.699 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 10.699 * [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)) 10.699 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 10.699 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.699 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.699 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.699 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.699 * [backup-simplify]: Simplify -0.5 into -0.5 10.699 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.699 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.699 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.699 * [backup-simplify]: Simplify phi1 into phi1 10.700 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.700 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.700 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.700 * [backup-simplify]: Simplify phi2 into phi2 10.700 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.700 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.700 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.700 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.700 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.700 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.700 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.701 * [backup-simplify]: Simplify (- 0) into 0 10.701 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.701 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 10.701 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.701 * [backup-simplify]: Simplify 0 into 0 10.701 * [backup-simplify]: Simplify 1 into 1 10.701 * [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) 10.701 * [backup-simplify]: Simplify (* 1 1) into 1 10.701 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.701 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 10.701 * [taylor]: Taking taylor expansion of 2 in lambda1 10.701 * [backup-simplify]: Simplify 2 into 2 10.702 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 10.702 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 10.702 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.702 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.702 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.702 * [backup-simplify]: Simplify -0.5 into -0.5 10.702 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.702 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.702 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.702 * [backup-simplify]: Simplify phi1 into phi1 10.702 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.702 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.702 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.702 * [backup-simplify]: Simplify phi2 into phi2 10.702 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.702 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.702 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.702 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.702 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.702 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.702 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.703 * [backup-simplify]: Simplify (- 0) into 0 10.703 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.703 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 10.703 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.703 * [backup-simplify]: Simplify lambda2 into lambda2 10.703 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.703 * [backup-simplify]: Simplify 0 into 0 10.703 * [backup-simplify]: Simplify 1 into 1 10.703 * [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) 10.703 * [backup-simplify]: Simplify (* lambda2 0) into 0 10.703 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 10.704 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 10.704 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.704 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.704 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.704 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.704 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.704 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.704 * [backup-simplify]: Simplify -0.5 into -0.5 10.704 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.704 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.704 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.704 * [backup-simplify]: Simplify phi1 into phi1 10.704 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.704 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.704 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.704 * [backup-simplify]: Simplify phi2 into phi2 10.704 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.704 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.704 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.705 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.705 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.705 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.705 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.705 * [backup-simplify]: Simplify (- 0) into 0 10.705 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.706 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.706 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 10.706 * [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 10.706 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.706 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 10.707 * [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 10.707 * [backup-simplify]: Simplify (+ 0 0) into 0 10.707 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.707 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 10.707 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 10.708 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 10.708 * [backup-simplify]: Simplify (- 0) into 0 10.708 * [backup-simplify]: Simplify (+ 0 0) into 0 10.709 * [taylor]: Taking taylor expansion of 0 in phi1 10.709 * [backup-simplify]: Simplify 0 into 0 10.709 * [taylor]: Taking taylor expansion of 0 in lambda1 10.709 * [backup-simplify]: Simplify 0 into 0 10.709 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.709 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 10.709 * [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 10.709 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.710 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 10.710 * [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 10.710 * [backup-simplify]: Simplify (+ 0 0) into 0 10.710 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.710 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 10.711 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 10.711 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 10.711 * [backup-simplify]: Simplify (- 0) into 0 10.712 * [backup-simplify]: Simplify (+ 0 0) into 0 10.712 * [taylor]: Taking taylor expansion of 0 in lambda1 10.712 * [backup-simplify]: Simplify 0 into 0 10.712 * [backup-simplify]: Simplify (+ 0) into 0 10.712 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.713 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.713 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.713 * [backup-simplify]: Simplify (+ 0 0) into 0 10.713 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.714 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.714 * [backup-simplify]: Simplify (- 0) into 0 10.714 * [backup-simplify]: Simplify (+ 0 0) into 0 10.715 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.715 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.716 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 10.716 * [backup-simplify]: Simplify (+ 0 0) into 0 10.716 * [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)) 10.717 * [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))) 10.717 * [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))) 10.717 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2 10.717 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 10.717 * [taylor]: Taking taylor expansion of 2 in lambda2 10.717 * [backup-simplify]: Simplify 2 into 2 10.717 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 10.717 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.717 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.717 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.717 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.717 * [backup-simplify]: Simplify -0.5 into -0.5 10.717 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.717 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.717 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.717 * [backup-simplify]: Simplify phi1 into phi1 10.717 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.717 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.717 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.717 * [backup-simplify]: Simplify phi2 into phi2 10.717 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.717 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.717 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.718 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.718 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.718 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.718 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.718 * [backup-simplify]: Simplify (- 0) into 0 10.718 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.718 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.718 * [backup-simplify]: Simplify 0 into 0 10.719 * [backup-simplify]: Simplify 1 into 1 10.719 * [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) 10.719 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.719 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.720 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 10.721 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 10.721 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.722 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 10.723 * [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 10.723 * [backup-simplify]: Simplify (+ 0 0) into 0 10.724 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.724 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 10.725 * [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 10.726 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into 0 10.726 * [backup-simplify]: Simplify (- 0) into 0 10.727 * [backup-simplify]: Simplify (+ 0 0) into 0 10.727 * [taylor]: Taking taylor expansion of 0 in phi1 10.727 * [backup-simplify]: Simplify 0 into 0 10.727 * [taylor]: Taking taylor expansion of 0 in lambda1 10.727 * [backup-simplify]: Simplify 0 into 0 10.727 * [taylor]: Taking taylor expansion of 0 in lambda1 10.727 * [backup-simplify]: Simplify 0 into 0 10.728 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.728 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 10.729 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 10.730 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.730 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 10.731 * [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 10.732 * [backup-simplify]: Simplify (+ 0 0) into 0 10.732 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.733 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 10.733 * [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 10.734 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into 0 10.735 * [backup-simplify]: Simplify (- 0) into 0 10.735 * [backup-simplify]: Simplify (+ 0 0) into 0 10.735 * [taylor]: Taking taylor expansion of 0 in lambda1 10.735 * [backup-simplify]: Simplify 0 into 0 10.736 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.737 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.737 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.738 * [backup-simplify]: Simplify (+ 0 0) into 0 10.739 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.740 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.740 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.741 * [backup-simplify]: Simplify (- 0) into 0 10.741 * [backup-simplify]: Simplify (+ 0 0) into 0 10.742 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.743 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 10.745 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.745 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 10.746 * [backup-simplify]: Simplify (+ 0) into 0 10.747 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.747 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.747 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.747 * [backup-simplify]: Simplify (+ 0 0) into 0 10.748 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.749 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.749 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.750 * [backup-simplify]: Simplify (- 0) into 0 10.750 * [backup-simplify]: Simplify (+ 0 0) into 0 10.750 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.751 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 10.752 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 10.752 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 10.753 * [backup-simplify]: Simplify (- 0) into 0 10.753 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 10.753 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 10.753 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 10.753 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.754 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.754 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.754 * [backup-simplify]: Simplify -0.5 into -0.5 10.754 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.754 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.754 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.754 * [backup-simplify]: Simplify phi1 into phi1 10.754 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.754 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.754 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.754 * [backup-simplify]: Simplify phi2 into phi2 10.754 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.754 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.754 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.754 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.755 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.755 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.755 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.755 * [backup-simplify]: Simplify (- 0) into 0 10.756 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.756 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.756 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.756 * [backup-simplify]: Simplify 0 into 0 10.756 * [backup-simplify]: Simplify 1 into 1 10.756 * [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) 10.756 * [backup-simplify]: Simplify (* 1 1) into 1 10.757 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.757 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.757 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 10.758 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 10.758 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 10.759 * [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) 10.759 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.762 * [backup-simplify]: Simplify (+ (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* 1 (* (/ 1 (/ 1 (- lambda1))) (* 1 1))) 2)) (+ (* (- (* 2 (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2))) (* (/ 1 (/ 1 (- lambda2))) (* (/ 1 (/ 1 (- lambda1))) (* 1 1)))) (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* (/ 1 (/ 1 (- lambda2))) (* 1 (* 1 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)))) 10.763 * * * [progress]: simplifying candidates 10.766 * [simplify]: Simplifying: (log (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (* (cbrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))) (sqrt (cbrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt 1) (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (- (pow (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 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 (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 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 (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 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 (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2)))) (sqrt (+ (* (- (pow (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3)))))) (sqrt (* (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))) (sqrt (+ (* (- (pow (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow 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phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (- (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda2 2)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- lambda2 lambda1) (- (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) phi1))) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) 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))) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 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 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)))) 10.773 * * [simplify]: Extracting # 0 : cost 0 10.773 * * [simplify]: Extracting # 1 : cost 0 10.773 * * [simplify]: Extracting # 2 : cost 0 10.774 * * [simplify]: Extracting # 3 : cost 0 10.774 * * [simplify]: Extracting # 4 : cost 0 10.774 * * [simplify]: Extracting # 5 : cost 0 10.775 * * [simplify]: Extracting # 6 : cost 0 10.775 * * [simplify]: Extracting # 7 : cost 0 10.775 * * [simplify]: Extracting # 8 : cost 0 10.776 * * [simplify]: Extracting # 9 : cost 0 10.776 * * [simplify]: Extracting # 10 : cost 0 10.776 * * [simplify]: Extracting # 11 : cost 0 10.777 * * [simplify]: iteration 0 : 227 enodes (cost 5490 ) 10.830 * * [simplify]: Extracting # 0 : cost 0 10.831 * * [simplify]: Extracting # 1 : cost 0 10.832 * * [simplify]: Extracting # 2 : cost 0 10.833 * * [simplify]: Extracting # 3 : cost 0 10.834 * * [simplify]: Extracting # 4 : cost 0 10.834 * * [simplify]: Extracting # 5 : cost 0 10.835 * * [simplify]: iteration 1 : 570 enodes (cost 4982 ) 11.220 * * [simplify]: Extracting # 0 : cost 0 11.227 * * [simplify]: Extracting # 1 : cost 0 11.231 * * [simplify]: Extracting # 2 : cost 0 11.234 * * [simplify]: Extracting # 3 : cost 0 11.238 * * [simplify]: Extracting # 4 : cost 0 11.241 * * [simplify]: iteration 2 : 2517 enodes (cost 4684 ) 12.171 * * [simplify]: Extracting # 0 : cost 0 12.194 * * [simplify]: Extracting # 1 : cost 0 12.208 * * [simplify]: Extracting # 2 : cost 0 12.216 * * [simplify]: Extracting # 3 : cost 0 12.223 * * [simplify]: Extracting # 4 : cost 0 12.231 * * [simplify]: Extracting # 5 : cost 0 12.241 * * [simplify]: iteration done: 5000 enodes (cost 4533 ) 12.243 * [simplify]: Simplified to: (log (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow 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(+ (* (- (* (* (+ (pow lambda1 2) (pow lambda2 2)) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (+ (pow lambda1 2) (pow lambda2 2))) (* (* (pow lambda2 2) 4) (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)))) (* (+ (* phi1 phi1) (* phi2 (+ phi2 phi1))) (+ phi2 phi1))) (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3)))))) (sqrt (* (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2)) (+ (* phi1 phi1) (* phi2 (+ phi2 phi1))))) (sqrt (+ (* (* (+ phi1 phi2) (+ phi1 phi2)) (- (* (* (+ (pow lambda1 2) (pow lambda2 2)) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (+ (pow lambda1 2) (pow lambda2 2))) (* (* (pow lambda2 2) 4) (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2))))) (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ phi1 phi2) (+ phi1 phi2)))) (sqrt (+ (* (+ (* phi1 phi1) (* phi2 (+ phi2 phi1))) (- (* (* (+ (pow lambda1 2) (pow lambda2 2)) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (+ (pow lambda1 2) (pow lambda2 2))) (* (* (pow lambda2 2) 4) (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2))))) (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- (pow phi1 3) (pow phi2 3)))))) (sqrt (* (+ (* phi1 phi1) (* phi2 (+ phi2 phi1))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (sqrt (+ (* (+ phi2 phi1) (- (* (* (+ (pow lambda1 2) (pow lambda2 2)) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (+ (pow lambda1 2) (pow lambda2 2))) (* (* (pow lambda2 2) 4) (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2))))) (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2))))) (sqrt (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2))) (sqrt (+ (* (+ (* phi1 phi1) (* phi2 (+ phi2 phi1))) (- (* (* (+ (pow lambda1 2) (pow lambda2 2)) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (+ (pow lambda1 2) (pow lambda2 2))) (* (* (pow lambda2 2) 4) (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2))))) (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- (pow phi1 3) (pow phi2 3)))))) (sqrt (* (+ (* phi1 phi1) (* phi2 (+ phi2 phi1))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (sqrt (+ (* (+ phi2 phi1) (- (* (* (+ (pow lambda1 2) (pow lambda2 2)) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (+ (pow lambda1 2) (pow lambda2 2))) (* (* (pow lambda2 2) 4) (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2))))) (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2))))) (sqrt (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2))) (sqrt (+ (pow (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 3) (pow (- phi1 phi2) 6))) (sqrt (+ (* (- phi1 phi2) (- (pow (- phi1 phi2) 3) (* (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- phi1 phi2)))) (* (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) (sqrt (- (* (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (pow (- phi1 phi2) (+ 3 1)))) (sqrt (- (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) 1/2 (sqrt (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (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)))) (pow (cos (* 0.5 (+ phi2 phi1))) 3) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (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)))) (pow (cos (* 0.5 (+ phi2 phi1))) 3) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (exp (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (log (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (exp (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (cbrt (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (cbrt (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (cbrt (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (pow (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 3) (sqrt (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (sqrt (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (- (pow (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (+ (* (* (+ (pow lambda1 2) (pow lambda2 2)) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (* (pow lambda2 2) 4) (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)))) (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (- (* (* (+ (pow lambda1 2) (pow lambda2 2)) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (+ (pow lambda1 2) (pow lambda2 2))) (* (* (pow lambda2 2) 4) (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (- lambda2 lambda1) (- (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) phi1))) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) 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))) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 12.245 * * * [progress]: adding candidates to table 12.846 * * [progress]: iteration 3 / 4 12.846 * * * [progress]: picking best candidate 12.893 * * * * [pick]: Picked # 12.893 * * * [progress]: localizing error 13.000 * * * [progress]: generating rewritten candidates 13.000 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2) 13.740 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2 2 1 1) 13.761 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1) 14.259 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1 1 1) 14.347 * * * [progress]: generating series expansions 14.347 * * * * [progress]: [ 1 / 4 ] generating series at (2 2) 14.349 * [backup-simplify]: Simplify (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) 14.349 * [approximate]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in (phi2 phi1 lambda1 lambda2) around 0 14.349 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in lambda2 14.349 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda2 14.349 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in lambda2 14.349 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2 14.349 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 14.349 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 14.349 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.349 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.349 * [backup-simplify]: Simplify 0.5 into 0.5 14.349 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.349 * [backup-simplify]: Simplify phi2 into phi2 14.349 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.349 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.349 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.349 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.349 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.349 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.349 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2 14.349 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 14.349 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 14.349 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.349 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.350 * [backup-simplify]: Simplify 0.5 into 0.5 14.350 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.350 * [backup-simplify]: Simplify phi1 into phi1 14.350 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.350 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.350 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.350 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.350 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.350 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.350 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 14.350 * [taylor]: Taking taylor expansion of lambda1 in lambda2 14.350 * [backup-simplify]: Simplify lambda1 into lambda1 14.350 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in lambda2 14.350 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 14.350 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.350 * [backup-simplify]: Simplify phi2 into phi2 14.350 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda2 14.350 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 14.350 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 14.350 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 14.350 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.350 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.350 * [backup-simplify]: Simplify 0.5 into 0.5 14.350 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.350 * [backup-simplify]: Simplify phi2 into phi2 14.350 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.350 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.350 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.350 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.350 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.350 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.350 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 14.351 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 14.351 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.351 * [backup-simplify]: Simplify 0 into 0 14.351 * [backup-simplify]: Simplify 1 into 1 14.351 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 14.351 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 14.351 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.351 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.351 * [backup-simplify]: Simplify 0.5 into 0.5 14.351 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.351 * [backup-simplify]: Simplify phi1 into phi1 14.351 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.351 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.351 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.351 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.351 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.351 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.351 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda2 14.351 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 14.351 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 14.351 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 14.351 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.351 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.351 * [backup-simplify]: Simplify 0.5 into 0.5 14.351 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.351 * [backup-simplify]: Simplify phi2 into phi2 14.351 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.351 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.351 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.351 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.351 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.352 * [backup-simplify]: Simplify (- 0) into 0 14.352 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.352 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 14.352 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 14.352 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 14.352 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.352 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.352 * [backup-simplify]: Simplify 0.5 into 0.5 14.352 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.352 * [backup-simplify]: Simplify phi1 into phi1 14.352 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.352 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.352 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.352 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.352 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.353 * [backup-simplify]: Simplify (- 0) into 0 14.353 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.353 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 14.353 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.353 * [backup-simplify]: Simplify 0 into 0 14.353 * [backup-simplify]: Simplify 1 into 1 14.353 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda2 14.353 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 14.353 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.353 * [backup-simplify]: Simplify phi1 into phi1 14.353 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2 14.353 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 14.353 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 14.353 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.353 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.353 * [backup-simplify]: Simplify 0.5 into 0.5 14.353 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.353 * [backup-simplify]: Simplify phi2 into phi2 14.353 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.353 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.353 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.353 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.353 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.354 * [backup-simplify]: Simplify (- 0) into 0 14.354 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.354 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2 14.354 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 14.354 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 14.354 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.354 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.354 * [backup-simplify]: Simplify 0.5 into 0.5 14.354 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.354 * [backup-simplify]: Simplify phi1 into phi1 14.354 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.354 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.354 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.354 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.354 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.354 * [backup-simplify]: Simplify (- 0) into 0 14.355 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.355 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 14.355 * [taylor]: Taking taylor expansion of lambda1 in lambda2 14.355 * [backup-simplify]: Simplify lambda1 into lambda1 14.355 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 14.355 * [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 14.355 * [taylor]: Taking taylor expansion of 2 in lambda2 14.355 * [backup-simplify]: Simplify 2 into 2 14.355 * [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 14.355 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 14.355 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.355 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.355 * [backup-simplify]: Simplify 0.5 into 0.5 14.355 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.355 * [backup-simplify]: Simplify phi2 into phi2 14.355 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.355 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.355 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.355 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 14.355 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 14.355 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.355 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.355 * [backup-simplify]: Simplify 0.5 into 0.5 14.355 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.355 * [backup-simplify]: Simplify phi2 into phi2 14.355 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.355 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.355 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.355 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 14.355 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 14.355 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.355 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.355 * [backup-simplify]: Simplify 0.5 into 0.5 14.355 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.355 * [backup-simplify]: Simplify phi1 into phi1 14.355 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.355 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.356 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.356 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 14.356 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 14.356 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.356 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.356 * [backup-simplify]: Simplify 0.5 into 0.5 14.356 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.356 * [backup-simplify]: Simplify phi1 into phi1 14.356 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.356 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.356 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.356 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 14.356 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.356 * [backup-simplify]: Simplify 0 into 0 14.356 * [backup-simplify]: Simplify 1 into 1 14.356 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 14.356 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 14.356 * [taylor]: Taking taylor expansion of 2 in lambda2 14.356 * [backup-simplify]: Simplify 2 into 2 14.356 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 14.356 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.356 * [backup-simplify]: Simplify phi2 into phi2 14.356 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.356 * [backup-simplify]: Simplify phi1 into phi1 14.356 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 14.356 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda2 14.356 * [taylor]: Taking taylor expansion of 2 in lambda2 14.356 * [backup-simplify]: Simplify 2 into 2 14.356 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda2 14.356 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 14.356 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.356 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.356 * [backup-simplify]: Simplify 0.5 into 0.5 14.356 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.356 * [backup-simplify]: Simplify phi2 into phi2 14.356 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.356 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.356 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.356 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda2 14.356 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 14.356 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.356 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.356 * [backup-simplify]: Simplify 0.5 into 0.5 14.356 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.356 * [backup-simplify]: Simplify phi2 into phi2 14.357 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.357 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.357 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.357 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda2 14.357 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 14.357 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.357 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.357 * [backup-simplify]: Simplify 0.5 into 0.5 14.357 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.357 * [backup-simplify]: Simplify phi1 into phi1 14.357 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.357 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.357 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.357 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda2 14.357 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 14.357 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.357 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.357 * [backup-simplify]: Simplify 0.5 into 0.5 14.357 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.357 * [backup-simplify]: Simplify phi1 into phi1 14.357 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.357 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.357 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.357 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 14.357 * [taylor]: Taking taylor expansion of lambda1 in lambda2 14.357 * [backup-simplify]: Simplify lambda1 into lambda1 14.357 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 14.357 * [taylor]: Taking taylor expansion of 2 in lambda2 14.357 * [backup-simplify]: Simplify 2 into 2 14.357 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 14.357 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.357 * [backup-simplify]: Simplify 0 into 0 14.357 * [backup-simplify]: Simplify 1 into 1 14.357 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 14.357 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 14.357 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 14.357 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 14.357 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.357 * [backup-simplify]: Simplify 0.5 into 0.5 14.357 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 14.357 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.357 * [backup-simplify]: Simplify phi2 into phi2 14.357 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.357 * [backup-simplify]: Simplify phi1 into phi1 14.358 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 14.358 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 14.358 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 14.358 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 14.358 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 14.358 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 14.358 * [backup-simplify]: Simplify (- 0) into 0 14.358 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 14.358 * [taylor]: Taking taylor expansion of lambda1 in lambda2 14.358 * [backup-simplify]: Simplify lambda1 into lambda1 14.358 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2) 14.359 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 14.359 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.359 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) 14.359 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 14.359 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 14.359 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 14.359 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 14.359 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 14.359 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.359 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 14.360 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) 14.360 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 14.360 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2)) 14.361 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2)) 14.361 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))) into (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 14.362 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) 14.362 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 14.362 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 14.362 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.362 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.363 * [backup-simplify]: Simplify (- 0) into 0 14.363 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.363 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.363 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.363 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.363 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.363 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.363 * [backup-simplify]: Simplify (- 0) into 0 14.364 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.364 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.364 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.364 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.364 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.364 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2)) 14.364 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) 14.364 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 14.364 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 14.365 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) 14.365 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 14.365 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 14.365 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 14.365 * [backup-simplify]: Simplify (* 2 0) into 0 14.366 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) 0) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) 14.366 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) 14.367 * [backup-simplify]: Simplify (+ 0 (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) 14.367 * [backup-simplify]: Simplify (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) 14.369 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) 14.370 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) into (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) 14.370 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 14.371 * [backup-simplify]: Simplify (+ 0) into 0 14.371 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.371 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.372 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.372 * [backup-simplify]: Simplify (+ 0 0) into 0 14.373 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 14.373 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 14.373 * [backup-simplify]: Simplify (+ 0) into 0 14.373 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.374 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.374 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.374 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.375 * [backup-simplify]: Simplify (+ 0 0) into 0 14.375 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0 14.375 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 14.375 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 14.375 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 14.375 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 14.375 * [backup-simplify]: Simplify (+ 0) into 0 14.376 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.376 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.377 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.377 * [backup-simplify]: Simplify (- 0) into 0 14.377 * [backup-simplify]: Simplify (+ 0 0) into 0 14.377 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.378 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 14.378 * [backup-simplify]: Simplify (+ 0) into 0 14.378 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.379 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.380 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.380 * [backup-simplify]: Simplify (- 0) into 0 14.380 * [backup-simplify]: Simplify (+ 0 0) into 0 14.380 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 14.381 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 14.381 * [backup-simplify]: Simplify (+ 0 0) into 0 14.381 * [backup-simplify]: Simplify (+ 0 0) into 0 14.381 * [backup-simplify]: Simplify (+ 0 0) into 0 14.382 * [backup-simplify]: Simplify (+ 0 0) into 0 14.382 * [backup-simplify]: Simplify (+ 0 0) into 0 14.382 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 14.382 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 14.382 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 14.382 * [backup-simplify]: Simplify (+ 0) into 0 14.383 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.383 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.384 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.384 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.384 * [backup-simplify]: Simplify (+ 0 0) into 0 14.384 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0 14.385 * [backup-simplify]: Simplify (+ 0) into 0 14.385 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.385 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.386 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.386 * [backup-simplify]: Simplify (- 0) into 0 14.386 * [backup-simplify]: Simplify (+ 0 0) into 0 14.387 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 14.387 * [backup-simplify]: Simplify (+ 0) into 0 14.387 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.388 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.388 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.388 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.389 * [backup-simplify]: Simplify (+ 0 0) into 0 14.389 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0 14.389 * [backup-simplify]: Simplify (+ 0) into 0 14.389 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.390 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.390 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.390 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.391 * [backup-simplify]: Simplify (- 0) into 0 14.391 * [backup-simplify]: Simplify (+ 0 0) into 0 14.391 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0 14.392 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into 0 14.392 * [backup-simplify]: Simplify (+ 0) into 0 14.392 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 14.393 * [backup-simplify]: Simplify (+ 0 0) into 0 14.393 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 14.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.394 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 14.394 * [backup-simplify]: Simplify (- 0) into 0 14.394 * [backup-simplify]: Simplify (+ 0 0) into 0 14.394 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 14.394 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 14.395 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 14.395 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 14.395 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 14.396 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 14.396 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 14.396 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 14.396 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 14.398 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))))) into (* -1 (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))))) 14.398 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in lambda1 14.398 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda1 14.398 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in lambda1 14.398 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda1 14.398 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1 14.398 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 14.398 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.398 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.398 * [backup-simplify]: Simplify 0.5 into 0.5 14.398 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.398 * [backup-simplify]: Simplify phi2 into phi2 14.398 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.398 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.398 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.398 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.399 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.399 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.399 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda1 14.399 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1 14.399 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 14.399 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.399 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.399 * [backup-simplify]: Simplify 0.5 into 0.5 14.399 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.399 * [backup-simplify]: Simplify phi1 into phi1 14.399 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.399 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.399 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.399 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.399 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.399 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.399 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 14.399 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.399 * [backup-simplify]: Simplify 0 into 0 14.399 * [backup-simplify]: Simplify 1 into 1 14.399 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in lambda1 14.399 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 14.399 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.399 * [backup-simplify]: Simplify phi2 into phi2 14.399 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda1 14.399 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda1 14.399 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1 14.399 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 14.399 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.399 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.399 * [backup-simplify]: Simplify 0.5 into 0.5 14.399 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.399 * [backup-simplify]: Simplify phi2 into phi2 14.399 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.399 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.400 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.400 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.400 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.400 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.400 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda1 14.400 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 14.400 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.400 * [backup-simplify]: Simplify lambda2 into lambda2 14.400 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1 14.400 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 14.400 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.400 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.400 * [backup-simplify]: Simplify 0.5 into 0.5 14.400 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.400 * [backup-simplify]: Simplify phi1 into phi1 14.400 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.400 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.400 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.400 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.400 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.400 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.400 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda1 14.400 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda1 14.400 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1 14.400 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 14.400 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.400 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.400 * [backup-simplify]: Simplify 0.5 into 0.5 14.400 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.400 * [backup-simplify]: Simplify phi2 into phi2 14.400 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.401 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.401 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.401 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.401 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.401 * [backup-simplify]: Simplify (- 0) into 0 14.401 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.401 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda1 14.401 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1 14.401 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 14.401 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.401 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.401 * [backup-simplify]: Simplify 0.5 into 0.5 14.401 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.401 * [backup-simplify]: Simplify phi1 into phi1 14.401 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.401 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.401 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.402 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.402 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.402 * [backup-simplify]: Simplify (- 0) into 0 14.402 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.402 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 14.402 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.402 * [backup-simplify]: Simplify lambda2 into lambda2 14.402 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda1 14.402 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 14.402 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.402 * [backup-simplify]: Simplify phi1 into phi1 14.402 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda1 14.402 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1 14.402 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 14.402 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.402 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.402 * [backup-simplify]: Simplify 0.5 into 0.5 14.402 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.402 * [backup-simplify]: Simplify phi2 into phi2 14.402 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.402 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.402 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.402 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.402 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.403 * [backup-simplify]: Simplify (- 0) into 0 14.403 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.403 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda1 14.403 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1 14.403 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 14.403 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.403 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.403 * [backup-simplify]: Simplify 0.5 into 0.5 14.403 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.403 * [backup-simplify]: Simplify phi1 into phi1 14.403 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.403 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.403 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.403 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.403 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.403 * [backup-simplify]: Simplify (- 0) into 0 14.403 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.403 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 14.404 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.404 * [backup-simplify]: Simplify 0 into 0 14.404 * [backup-simplify]: Simplify 1 into 1 14.404 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 14.404 * [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 14.404 * [taylor]: Taking taylor expansion of 2 in lambda1 14.404 * [backup-simplify]: Simplify 2 into 2 14.404 * [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 14.404 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 14.404 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.404 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.404 * [backup-simplify]: Simplify 0.5 into 0.5 14.404 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.404 * [backup-simplify]: Simplify phi2 into phi2 14.404 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.404 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.404 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.404 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda1 14.404 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 14.404 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.404 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.404 * [backup-simplify]: Simplify 0.5 into 0.5 14.404 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.404 * [backup-simplify]: Simplify phi2 into phi2 14.404 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.404 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.404 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.404 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda1 14.404 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 14.404 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.404 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.404 * [backup-simplify]: Simplify 0.5 into 0.5 14.404 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.404 * [backup-simplify]: Simplify phi1 into phi1 14.404 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.404 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.404 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.404 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda1 14.404 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 14.404 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.405 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.405 * [backup-simplify]: Simplify 0.5 into 0.5 14.405 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.405 * [backup-simplify]: Simplify phi1 into phi1 14.405 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.405 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.405 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.405 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 14.405 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.405 * [backup-simplify]: Simplify lambda2 into lambda2 14.405 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 14.405 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 14.405 * [taylor]: Taking taylor expansion of 2 in lambda1 14.405 * [backup-simplify]: Simplify 2 into 2 14.405 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 14.405 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.405 * [backup-simplify]: Simplify phi2 into phi2 14.405 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.405 * [backup-simplify]: Simplify phi1 into phi1 14.405 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 14.405 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda1 14.405 * [taylor]: Taking taylor expansion of 2 in lambda1 14.405 * [backup-simplify]: Simplify 2 into 2 14.405 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda1 14.405 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 14.405 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.405 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.405 * [backup-simplify]: Simplify 0.5 into 0.5 14.405 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.405 * [backup-simplify]: Simplify phi2 into phi2 14.405 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.405 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.405 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.405 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda1 14.405 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 14.406 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.406 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.406 * [backup-simplify]: Simplify 0.5 into 0.5 14.406 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.406 * [backup-simplify]: Simplify phi2 into phi2 14.406 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.406 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.406 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.406 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda1 14.406 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 14.406 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.406 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.406 * [backup-simplify]: Simplify 0.5 into 0.5 14.406 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.406 * [backup-simplify]: Simplify phi1 into phi1 14.406 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.406 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.406 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.406 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda1 14.406 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 14.406 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.406 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.406 * [backup-simplify]: Simplify 0.5 into 0.5 14.406 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.406 * [backup-simplify]: Simplify phi1 into phi1 14.406 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.406 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.406 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.406 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 14.406 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.406 * [backup-simplify]: Simplify 0 into 0 14.406 * [backup-simplify]: Simplify 1 into 1 14.406 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 14.406 * [taylor]: Taking taylor expansion of 2 in lambda1 14.406 * [backup-simplify]: Simplify 2 into 2 14.406 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 14.406 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.406 * [backup-simplify]: Simplify lambda2 into lambda2 14.406 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 14.406 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 14.406 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 14.407 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 14.407 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.407 * [backup-simplify]: Simplify 0.5 into 0.5 14.407 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 14.407 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.407 * [backup-simplify]: Simplify phi2 into phi2 14.407 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.407 * [backup-simplify]: Simplify phi1 into phi1 14.407 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 14.407 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 14.407 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 14.407 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 14.407 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 14.407 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 14.407 * [backup-simplify]: Simplify (- 0) into 0 14.407 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 14.408 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.408 * [backup-simplify]: Simplify 0 into 0 14.408 * [backup-simplify]: Simplify 1 into 1 14.408 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 14.408 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2) 14.408 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.408 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 14.408 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 14.408 * [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))) 14.408 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 14.409 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 14.409 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.409 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 14.409 * [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))) 14.409 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 14.409 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 14.409 * [backup-simplify]: Simplify (+ (* (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)) 14.410 * [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))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) 14.411 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) 14.412 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) into (+ (* (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 phi2 2) (pow phi1 2)))) 14.412 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.412 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.413 * [backup-simplify]: Simplify (- 0) into 0 14.413 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.413 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.413 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.413 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.413 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.413 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.413 * [backup-simplify]: Simplify (- 0) into 0 14.413 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.413 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.413 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.413 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.413 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.414 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 14.414 * [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))) 14.414 * [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))))) 14.414 * [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))))) 14.414 * [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)))))) 14.415 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 14.415 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 14.415 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 14.415 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 14.415 * [backup-simplify]: Simplify (* lambda2 0) into 0 14.415 * [backup-simplify]: Simplify (* 2 0) into 0 14.415 * [backup-simplify]: Simplify (+ 0 0) into 0 14.416 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 14.416 * [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))) 14.417 * [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)))) 14.420 * [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 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 (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)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))) 14.423 * [backup-simplify]: Simplify (sqrt (- (+ (* (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)))))) (+ (* 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 (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) 14.423 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 14.423 * [backup-simplify]: Simplify (+ 0) into 0 14.424 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.424 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.426 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.426 * [backup-simplify]: Simplify (+ 0 0) into 0 14.426 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 14.426 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.427 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (sin (* 0.5 phi1)) 2))) into 0 14.427 * [backup-simplify]: Simplify (+ 0) into 0 14.427 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.428 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.429 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.429 * [backup-simplify]: Simplify (+ 0 0) into 0 14.430 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0 14.430 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 14.430 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.431 * [backup-simplify]: Simplify (+ 0) into 0 14.431 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.432 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.433 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.433 * [backup-simplify]: Simplify (- 0) into 0 14.434 * [backup-simplify]: Simplify (+ 0 0) into 0 14.434 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.434 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 14.434 * [backup-simplify]: Simplify (+ 0) into 0 14.435 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.436 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.437 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.437 * [backup-simplify]: Simplify (- 0) into 0 14.438 * [backup-simplify]: Simplify (+ 0 0) into 0 14.438 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 14.438 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 14.438 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 14.443 * [backup-simplify]: Simplify (+ 0 0) into 0 14.443 * [backup-simplify]: Simplify (+ 0 0) into 0 14.444 * [backup-simplify]: Simplify (+ 0 0) into 0 14.444 * [backup-simplify]: Simplify (+ 0 0) into 0 14.444 * [backup-simplify]: Simplify (+ 0 0) into 0 14.445 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.445 * [backup-simplify]: Simplify (+ 0) into 0 14.446 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.446 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.447 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.447 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.447 * [backup-simplify]: Simplify (+ 0 0) into 0 14.448 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 14.448 * [backup-simplify]: Simplify (+ 0) into 0 14.449 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.449 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.450 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.450 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.451 * [backup-simplify]: Simplify (- 0) into 0 14.451 * [backup-simplify]: Simplify (+ 0 0) into 0 14.451 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 14.452 * [backup-simplify]: Simplify (+ 0) into 0 14.452 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.453 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.453 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.454 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.454 * [backup-simplify]: Simplify (+ 0 0) into 0 14.455 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0 14.455 * [backup-simplify]: Simplify (+ 0) into 0 14.456 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.456 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.457 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.458 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.458 * [backup-simplify]: Simplify (- 0) into 0 14.458 * [backup-simplify]: Simplify (+ 0 0) into 0 14.459 * [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 14.460 * [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 14.460 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 14.460 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 14.461 * [backup-simplify]: Simplify (+ 0) into 0 14.461 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 14.461 * [backup-simplify]: Simplify (+ 0 0) into 0 14.462 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 14.463 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.463 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 14.463 * [backup-simplify]: Simplify (- 0) into 0 14.464 * [backup-simplify]: Simplify (+ 0 0) into 0 14.464 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 14.465 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 14.465 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 14.466 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 14.466 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 14.466 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 14.467 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 14.467 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 14.467 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 14.471 * [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 phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 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 (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 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)))) 14.471 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi1 14.471 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi1 14.471 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in phi1 14.471 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 14.471 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 14.471 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 14.471 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.471 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.471 * [backup-simplify]: Simplify 0.5 into 0.5 14.471 * [taylor]: Taking taylor expansion of phi2 in phi1 14.471 * [backup-simplify]: Simplify phi2 into phi2 14.471 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.471 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.471 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.472 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.472 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.472 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.472 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 14.472 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 14.472 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.472 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.472 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.472 * [backup-simplify]: Simplify 0.5 into 0.5 14.472 * [taylor]: Taking taylor expansion of phi1 in phi1 14.472 * [backup-simplify]: Simplify 0 into 0 14.472 * [backup-simplify]: Simplify 1 into 1 14.473 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.474 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.477 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.477 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.477 * [backup-simplify]: Simplify lambda1 into lambda1 14.477 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in phi1 14.477 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 14.477 * [taylor]: Taking taylor expansion of phi2 in phi1 14.477 * [backup-simplify]: Simplify phi2 into phi2 14.477 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi1 14.477 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1 14.477 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 14.477 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 14.477 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.477 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.477 * [backup-simplify]: Simplify 0.5 into 0.5 14.477 * [taylor]: Taking taylor expansion of phi2 in phi1 14.477 * [backup-simplify]: Simplify phi2 into phi2 14.477 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.477 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.477 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.477 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.478 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.478 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.478 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi1 14.478 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.478 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.478 * [backup-simplify]: Simplify lambda2 into lambda2 14.478 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 14.478 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.478 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.478 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.478 * [backup-simplify]: Simplify 0.5 into 0.5 14.478 * [taylor]: Taking taylor expansion of phi1 in phi1 14.478 * [backup-simplify]: Simplify 0 into 0 14.478 * [backup-simplify]: Simplify 1 into 1 14.478 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.480 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.482 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.482 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi1 14.483 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 14.483 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 14.483 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 14.483 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.483 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.483 * [backup-simplify]: Simplify 0.5 into 0.5 14.483 * [taylor]: Taking taylor expansion of phi2 in phi1 14.483 * [backup-simplify]: Simplify phi2 into phi2 14.483 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.483 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.483 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.483 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.483 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.484 * [backup-simplify]: Simplify (- 0) into 0 14.484 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.484 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 14.484 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.484 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.484 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.484 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.484 * [backup-simplify]: Simplify 0.5 into 0.5 14.484 * [taylor]: Taking taylor expansion of phi1 in phi1 14.484 * [backup-simplify]: Simplify 0 into 0 14.484 * [backup-simplify]: Simplify 1 into 1 14.485 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.486 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.486 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.486 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.486 * [backup-simplify]: Simplify lambda2 into lambda2 14.486 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi1 14.486 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 14.486 * [taylor]: Taking taylor expansion of phi1 in phi1 14.486 * [backup-simplify]: Simplify 0 into 0 14.486 * [backup-simplify]: Simplify 1 into 1 14.486 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 14.486 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 14.486 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 14.486 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.487 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.487 * [backup-simplify]: Simplify 0.5 into 0.5 14.487 * [taylor]: Taking taylor expansion of phi2 in phi1 14.487 * [backup-simplify]: Simplify phi2 into phi2 14.487 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.487 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.487 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.487 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.487 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.487 * [backup-simplify]: Simplify (- 0) into 0 14.488 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.488 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 14.488 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.488 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.488 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.488 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.488 * [backup-simplify]: Simplify 0.5 into 0.5 14.488 * [taylor]: Taking taylor expansion of phi1 in phi1 14.488 * [backup-simplify]: Simplify 0 into 0 14.488 * [backup-simplify]: Simplify 1 into 1 14.488 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.490 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.490 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.490 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.490 * [backup-simplify]: Simplify lambda1 into lambda1 14.490 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 14.490 * [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 14.490 * [taylor]: Taking taylor expansion of 2 in phi1 14.490 * [backup-simplify]: Simplify 2 into 2 14.490 * [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 14.490 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 14.490 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.490 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.490 * [backup-simplify]: Simplify 0.5 into 0.5 14.490 * [taylor]: Taking taylor expansion of phi2 in phi1 14.490 * [backup-simplify]: Simplify phi2 into phi2 14.490 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.490 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.490 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.490 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 14.491 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 14.491 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.491 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.491 * [backup-simplify]: Simplify 0.5 into 0.5 14.491 * [taylor]: Taking taylor expansion of phi2 in phi1 14.491 * [backup-simplify]: Simplify phi2 into phi2 14.491 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.491 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.491 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.491 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 14.491 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.491 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.491 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.491 * [backup-simplify]: Simplify 0.5 into 0.5 14.491 * [taylor]: Taking taylor expansion of phi1 in phi1 14.491 * [backup-simplify]: Simplify 0 into 0 14.491 * [backup-simplify]: Simplify 1 into 1 14.492 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.493 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.493 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 14.493 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.493 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.493 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.493 * [backup-simplify]: Simplify 0.5 into 0.5 14.493 * [taylor]: Taking taylor expansion of phi1 in phi1 14.493 * [backup-simplify]: Simplify 0 into 0 14.493 * [backup-simplify]: Simplify 1 into 1 14.494 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.495 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.495 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.495 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.495 * [backup-simplify]: Simplify lambda2 into lambda2 14.495 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 14.495 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 14.495 * [taylor]: Taking taylor expansion of 2 in phi1 14.495 * [backup-simplify]: Simplify 2 into 2 14.495 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 14.495 * [taylor]: Taking taylor expansion of phi2 in phi1 14.495 * [backup-simplify]: Simplify phi2 into phi2 14.495 * [taylor]: Taking taylor expansion of phi1 in phi1 14.496 * [backup-simplify]: Simplify 0 into 0 14.496 * [backup-simplify]: Simplify 1 into 1 14.496 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 14.496 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi1 14.496 * [taylor]: Taking taylor expansion of 2 in phi1 14.496 * [backup-simplify]: Simplify 2 into 2 14.496 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi1 14.496 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 14.496 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.496 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.496 * [backup-simplify]: Simplify 0.5 into 0.5 14.496 * [taylor]: Taking taylor expansion of phi2 in phi1 14.496 * [backup-simplify]: Simplify phi2 into phi2 14.496 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.496 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.496 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.496 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 14.496 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 14.496 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.496 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.497 * [backup-simplify]: Simplify 0.5 into 0.5 14.497 * [taylor]: Taking taylor expansion of phi2 in phi1 14.497 * [backup-simplify]: Simplify phi2 into phi2 14.497 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.497 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.497 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.497 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 14.497 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.497 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.497 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.497 * [backup-simplify]: Simplify 0.5 into 0.5 14.497 * [taylor]: Taking taylor expansion of phi1 in phi1 14.497 * [backup-simplify]: Simplify 0 into 0 14.497 * [backup-simplify]: Simplify 1 into 1 14.498 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.499 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.499 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 14.499 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.499 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.499 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.499 * [backup-simplify]: Simplify 0.5 into 0.5 14.499 * [taylor]: Taking taylor expansion of phi1 in phi1 14.500 * [backup-simplify]: Simplify 0 into 0 14.500 * [backup-simplify]: Simplify 1 into 1 14.500 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.501 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.501 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.501 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.501 * [backup-simplify]: Simplify lambda1 into lambda1 14.501 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 14.501 * [taylor]: Taking taylor expansion of 2 in phi1 14.501 * [backup-simplify]: Simplify 2 into 2 14.502 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 14.502 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.502 * [backup-simplify]: Simplify lambda2 into lambda2 14.502 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 14.502 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 14.502 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 14.502 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 14.502 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.502 * [backup-simplify]: Simplify 0.5 into 0.5 14.502 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 14.502 * [taylor]: Taking taylor expansion of phi2 in phi1 14.502 * [backup-simplify]: Simplify phi2 into phi2 14.502 * [taylor]: Taking taylor expansion of phi1 in phi1 14.502 * [backup-simplify]: Simplify 0 into 0 14.502 * [backup-simplify]: Simplify 1 into 1 14.502 * [backup-simplify]: Simplify (+ phi2 0) into phi2 14.502 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.502 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.502 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.502 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.503 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.503 * [backup-simplify]: Simplify (- 0) into 0 14.503 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.503 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.503 * [backup-simplify]: Simplify lambda1 into lambda1 14.503 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 14.503 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 14.504 * [backup-simplify]: Simplify (* 1 1) into 1 14.504 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.504 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 14.504 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 14.504 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 14.505 * [backup-simplify]: Simplify (* 1 1) into 1 14.505 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.505 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 14.505 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 14.506 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 14.506 * [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))) 14.507 * [backup-simplify]: Simplify (+ 0 (+ (* (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))) 14.508 * [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))) 14.509 * [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))) 14.509 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.509 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.510 * [backup-simplify]: Simplify (- 0) into 0 14.510 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.510 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.510 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.510 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.510 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.510 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 14.511 * [backup-simplify]: Simplify (* 1 0) into 0 14.511 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.511 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.512 * [backup-simplify]: Simplify (* 2 0) into 0 14.512 * [backup-simplify]: Simplify (* phi2 0) into 0 14.512 * [backup-simplify]: Simplify (* 2 0) into 0 14.512 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.512 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.513 * [backup-simplify]: Simplify (- 0) into 0 14.513 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.513 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.513 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.513 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.513 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.513 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 14.514 * [backup-simplify]: Simplify (* 1 0) into 0 14.514 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.514 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.514 * [backup-simplify]: Simplify (* 2 0) into 0 14.515 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 14.515 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 14.515 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 14.515 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 14.516 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 14.516 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 14.517 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 14.517 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 14.518 * [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)))) 14.520 * [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))))) 14.520 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 14.520 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.520 * [backup-simplify]: Simplify (+ 0) into 0 14.521 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.522 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 14.522 * [backup-simplify]: Simplify (+ 0) into 0 14.523 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.523 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.524 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.525 * [backup-simplify]: Simplify (- 0) into 0 14.525 * [backup-simplify]: Simplify (+ 0 0) into 0 14.525 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 14.526 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (pow lambda2 2))) into 0 14.526 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 14.526 * [backup-simplify]: Simplify (+ 0) into 0 14.527 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.527 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 14.528 * [backup-simplify]: Simplify (+ 0) into 0 14.528 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.528 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.530 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.530 * [backup-simplify]: Simplify (- 0) into 0 14.530 * [backup-simplify]: Simplify (+ 0 0) into 0 14.531 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 14.531 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (pow lambda1 2))) into 0 14.531 * [backup-simplify]: Simplify (+ 0 0) into 0 14.532 * [backup-simplify]: Simplify (+ 0 0) into 0 14.532 * [backup-simplify]: Simplify (+ 0 0) into 0 14.532 * [backup-simplify]: Simplify (+ 0 0) into 0 14.533 * [backup-simplify]: Simplify (+ 0 0) into 0 14.533 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.535 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.536 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 14.536 * [backup-simplify]: Simplify (+ 0) into 0 14.537 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 14.537 * [backup-simplify]: Simplify (+ 0) into 0 14.537 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.538 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.539 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.539 * [backup-simplify]: Simplify (+ 0 0) into 0 14.540 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda2 2))) 14.541 * [backup-simplify]: Simplify (+ 0) into 0 14.541 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.542 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.542 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.543 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.543 * [backup-simplify]: Simplify (- 0) into 0 14.544 * [backup-simplify]: Simplify (+ 0 0) into 0 14.544 * [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)))) 14.545 * [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)))) 14.546 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 14.546 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 14.546 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 14.548 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.549 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 14.549 * [backup-simplify]: Simplify (+ 0) into 0 14.550 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 14.550 * [backup-simplify]: Simplify (+ 0) into 0 14.551 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.551 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.552 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.553 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.553 * [backup-simplify]: Simplify (+ 0 0) into 0 14.554 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda1 2))) 14.554 * [backup-simplify]: Simplify (+ 0) into 0 14.555 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.555 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.556 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.557 * [backup-simplify]: Simplify (- 0) into 0 14.557 * [backup-simplify]: Simplify (+ 0 0) into 0 14.558 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) 14.559 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) 14.559 * [backup-simplify]: Simplify (+ 0) into 0 14.560 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.560 * [backup-simplify]: Simplify (+ 0 1) into 1 14.560 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 14.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.563 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 14.563 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 14.564 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 14.564 * [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))))) 14.565 * [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)))) 14.565 * [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))))) 14.566 * [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))))) 14.567 * [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)))))) into (- (* 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))))) 14.568 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 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)))))) into (- (+ (* 2 phi2) (* 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))))) 14.569 * [backup-simplify]: Simplify (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (- (+ (* 2 phi2) (* 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)))))) into (- (+ (* 2 phi2) (+ (* 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))))) 14.571 * [backup-simplify]: Simplify (- (- (+ (* 2 phi2) (+ (* 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)))))) 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)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))))) 14.573 * [backup-simplify]: Simplify (+ 0 (- (* 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)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))))) 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)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))))) 14.575 * [backup-simplify]: Simplify (/ (- (* 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)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 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 (* (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)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (+ (* 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))))))))) 14.576 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi2 14.576 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi2 14.576 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in phi2 14.576 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 14.576 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 14.576 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.576 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.576 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.576 * [backup-simplify]: Simplify 0.5 into 0.5 14.576 * [taylor]: Taking taylor expansion of phi2 in phi2 14.576 * [backup-simplify]: Simplify 0 into 0 14.576 * [backup-simplify]: Simplify 1 into 1 14.577 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.578 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.581 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 14.581 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 14.581 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.581 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.581 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.581 * [backup-simplify]: Simplify 0.5 into 0.5 14.581 * [taylor]: Taking taylor expansion of phi1 in phi2 14.581 * [backup-simplify]: Simplify phi1 into phi1 14.581 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.581 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.581 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.581 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.581 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.581 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.581 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 14.581 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.582 * [backup-simplify]: Simplify lambda1 into lambda1 14.582 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in phi2 14.582 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 14.582 * [taylor]: Taking taylor expansion of phi2 in phi2 14.582 * [backup-simplify]: Simplify 0 into 0 14.582 * [backup-simplify]: Simplify 1 into 1 14.582 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2 14.582 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 14.582 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 14.582 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.582 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.582 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.582 * [backup-simplify]: Simplify 0.5 into 0.5 14.582 * [taylor]: Taking taylor expansion of phi2 in phi2 14.582 * [backup-simplify]: Simplify 0 into 0 14.582 * [backup-simplify]: Simplify 1 into 1 14.582 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.584 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.586 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 14.586 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 14.586 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.586 * [backup-simplify]: Simplify lambda2 into lambda2 14.586 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 14.586 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.586 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.586 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.587 * [backup-simplify]: Simplify 0.5 into 0.5 14.587 * [taylor]: Taking taylor expansion of phi1 in phi2 14.587 * [backup-simplify]: Simplify phi1 into phi1 14.587 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.587 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.587 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.587 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.587 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.587 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.587 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2 14.587 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 14.587 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 14.587 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.587 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.587 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.588 * [backup-simplify]: Simplify 0.5 into 0.5 14.588 * [taylor]: Taking taylor expansion of phi2 in phi2 14.588 * [backup-simplify]: Simplify 0 into 0 14.588 * [backup-simplify]: Simplify 1 into 1 14.588 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.590 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.590 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 14.590 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 14.590 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.590 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.590 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.590 * [backup-simplify]: Simplify 0.5 into 0.5 14.590 * [taylor]: Taking taylor expansion of phi1 in phi2 14.590 * [backup-simplify]: Simplify phi1 into phi1 14.590 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.590 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.590 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.590 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.590 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.591 * [backup-simplify]: Simplify (- 0) into 0 14.591 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.591 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 14.591 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.591 * [backup-simplify]: Simplify lambda2 into lambda2 14.591 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2 14.591 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 14.591 * [taylor]: Taking taylor expansion of phi1 in phi2 14.591 * [backup-simplify]: Simplify phi1 into phi1 14.591 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 14.591 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 14.591 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.591 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.591 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.591 * [backup-simplify]: Simplify 0.5 into 0.5 14.591 * [taylor]: Taking taylor expansion of phi2 in phi2 14.591 * [backup-simplify]: Simplify 0 into 0 14.591 * [backup-simplify]: Simplify 1 into 1 14.592 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.593 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.593 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 14.593 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 14.593 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.593 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.593 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.593 * [backup-simplify]: Simplify 0.5 into 0.5 14.593 * [taylor]: Taking taylor expansion of phi1 in phi2 14.594 * [backup-simplify]: Simplify phi1 into phi1 14.594 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.594 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.594 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.594 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.594 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.594 * [backup-simplify]: Simplify (- 0) into 0 14.594 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.595 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 14.595 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.595 * [backup-simplify]: Simplify lambda1 into lambda1 14.595 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 14.595 * [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 14.595 * [taylor]: Taking taylor expansion of 2 in phi2 14.595 * [backup-simplify]: Simplify 2 into 2 14.595 * [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 14.595 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.595 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.595 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.595 * [backup-simplify]: Simplify 0.5 into 0.5 14.595 * [taylor]: Taking taylor expansion of phi2 in phi2 14.595 * [backup-simplify]: Simplify 0 into 0 14.595 * [backup-simplify]: Simplify 1 into 1 14.595 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.602 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.603 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 14.603 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.603 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.603 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.603 * [backup-simplify]: Simplify 0.5 into 0.5 14.603 * [taylor]: Taking taylor expansion of phi2 in phi2 14.603 * [backup-simplify]: Simplify 0 into 0 14.603 * [backup-simplify]: Simplify 1 into 1 14.604 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.605 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.605 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 14.605 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.605 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.605 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.605 * [backup-simplify]: Simplify 0.5 into 0.5 14.605 * [taylor]: Taking taylor expansion of phi1 in phi2 14.606 * [backup-simplify]: Simplify phi1 into phi1 14.606 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.606 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.606 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.606 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 14.606 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.606 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.606 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.606 * [backup-simplify]: Simplify 0.5 into 0.5 14.606 * [taylor]: Taking taylor expansion of phi1 in phi2 14.606 * [backup-simplify]: Simplify phi1 into phi1 14.606 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.606 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.606 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.606 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 14.606 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.606 * [backup-simplify]: Simplify lambda2 into lambda2 14.606 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 14.606 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 14.606 * [taylor]: Taking taylor expansion of 2 in phi2 14.606 * [backup-simplify]: Simplify 2 into 2 14.607 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 14.607 * [taylor]: Taking taylor expansion of phi2 in phi2 14.607 * [backup-simplify]: Simplify 0 into 0 14.607 * [backup-simplify]: Simplify 1 into 1 14.607 * [taylor]: Taking taylor expansion of phi1 in phi2 14.607 * [backup-simplify]: Simplify phi1 into phi1 14.607 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 14.607 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2 14.607 * [taylor]: Taking taylor expansion of 2 in phi2 14.607 * [backup-simplify]: Simplify 2 into 2 14.607 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2 14.607 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.607 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.607 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.607 * [backup-simplify]: Simplify 0.5 into 0.5 14.607 * [taylor]: Taking taylor expansion of phi2 in phi2 14.607 * [backup-simplify]: Simplify 0 into 0 14.607 * [backup-simplify]: Simplify 1 into 1 14.608 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.609 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.609 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2 14.609 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.609 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.609 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.609 * [backup-simplify]: Simplify 0.5 into 0.5 14.609 * [taylor]: Taking taylor expansion of phi2 in phi2 14.609 * [backup-simplify]: Simplify 0 into 0 14.609 * [backup-simplify]: Simplify 1 into 1 14.610 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.611 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.611 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2 14.611 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.611 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.611 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.611 * [backup-simplify]: Simplify 0.5 into 0.5 14.611 * [taylor]: Taking taylor expansion of phi1 in phi2 14.611 * [backup-simplify]: Simplify phi1 into phi1 14.612 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.612 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.612 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.612 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2 14.612 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.612 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.612 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.612 * [backup-simplify]: Simplify 0.5 into 0.5 14.612 * [taylor]: Taking taylor expansion of phi1 in phi2 14.612 * [backup-simplify]: Simplify phi1 into phi1 14.612 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.612 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.612 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.612 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 14.612 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.612 * [backup-simplify]: Simplify lambda1 into lambda1 14.612 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 14.612 * [taylor]: Taking taylor expansion of 2 in phi2 14.612 * [backup-simplify]: Simplify 2 into 2 14.612 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 14.612 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.612 * [backup-simplify]: Simplify lambda2 into lambda2 14.613 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 14.613 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 14.613 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 14.613 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 14.613 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.613 * [backup-simplify]: Simplify 0.5 into 0.5 14.613 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 14.613 * [taylor]: Taking taylor expansion of phi2 in phi2 14.613 * [backup-simplify]: Simplify 0 into 0 14.613 * [backup-simplify]: Simplify 1 into 1 14.613 * [taylor]: Taking taylor expansion of phi1 in phi2 14.613 * [backup-simplify]: Simplify phi1 into phi1 14.613 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 14.613 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.613 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.613 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.613 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.613 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.614 * [backup-simplify]: Simplify (- 0) into 0 14.614 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.614 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.614 * [backup-simplify]: Simplify lambda1 into lambda1 14.614 * [backup-simplify]: Simplify (* 1 1) into 1 14.615 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 14.615 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.615 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 14.615 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 14.615 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 14.616 * [backup-simplify]: Simplify (* 1 1) into 1 14.616 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 14.616 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.617 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 14.617 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 14.617 * [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)) 14.618 * [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))) 14.619 * [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))) 14.620 * [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))) 14.621 * [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))) 14.621 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.622 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.622 * [backup-simplify]: Simplify (- 0) into 0 14.622 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.622 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.622 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.623 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.623 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.623 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 14.623 * [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))) 14.624 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 14.624 * [backup-simplify]: Simplify (* 1 0) into 0 14.624 * [backup-simplify]: Simplify (* 2 0) into 0 14.624 * [backup-simplify]: Simplify (* 0 phi1) into 0 14.625 * [backup-simplify]: Simplify (* 2 0) into 0 14.625 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.625 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.625 * [backup-simplify]: Simplify (- 0) into 0 14.625 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.625 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.625 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.625 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.625 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.625 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2)) 14.626 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) 14.626 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 14.626 * [backup-simplify]: Simplify (* 1 0) into 0 14.626 * [backup-simplify]: Simplify (* 2 0) into 0 14.626 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 14.626 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 14.627 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 14.627 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 14.627 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 14.627 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 14.627 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 14.628 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 14.628 * [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)))) 14.629 * [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))))) 14.629 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.629 * [backup-simplify]: Simplify (+ 0) into 0 14.630 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.630 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.630 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.631 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.631 * [backup-simplify]: Simplify (- 0) into 0 14.631 * [backup-simplify]: Simplify (+ 0 0) into 0 14.631 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.632 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 14.632 * [backup-simplify]: Simplify (+ 0) into 0 14.632 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.633 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 14.633 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 14.633 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 14.633 * [backup-simplify]: Simplify (+ 0) into 0 14.633 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.634 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.634 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.635 * [backup-simplify]: Simplify (- 0) into 0 14.635 * [backup-simplify]: Simplify (+ 0 0) into 0 14.635 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.635 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 14.635 * [backup-simplify]: Simplify (+ 0) into 0 14.636 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.636 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 14.636 * [backup-simplify]: Simplify (+ 0 0) into 0 14.637 * [backup-simplify]: Simplify (+ 0 0) into 0 14.637 * [backup-simplify]: Simplify (+ 0 0) into 0 14.637 * [backup-simplify]: Simplify (+ 0 0) into 0 14.637 * [backup-simplify]: Simplify (+ 0 0) into 0 14.637 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.638 * [backup-simplify]: Simplify (+ 0) into 0 14.638 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.638 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.639 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.639 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.639 * [backup-simplify]: Simplify (+ 0 0) into 0 14.639 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 14.639 * [backup-simplify]: Simplify (+ 0) into 0 14.640 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.640 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.641 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.641 * [backup-simplify]: Simplify (- 0) into 0 14.641 * [backup-simplify]: Simplify (+ 0 0) into 0 14.641 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 14.643 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.643 * [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)))) 14.644 * [backup-simplify]: Simplify (+ 0) into 0 14.644 * [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)))) 14.645 * [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)))) 14.645 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 14.645 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 14.645 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 14.645 * [backup-simplify]: Simplify (+ 0) into 0 14.646 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.646 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.647 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.647 * [backup-simplify]: Simplify (+ 0 0) into 0 14.647 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0 14.647 * [backup-simplify]: Simplify (+ 0) into 0 14.648 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.648 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.649 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.649 * [backup-simplify]: Simplify (- 0) into 0 14.649 * [backup-simplify]: Simplify (+ 0 0) into 0 14.649 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 14.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.651 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 14.652 * [backup-simplify]: Simplify (+ 0) into 0 14.652 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 14.653 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 14.654 * [backup-simplify]: Simplify (+ 0) into 0 14.654 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.654 * [backup-simplify]: Simplify (+ 1 0) into 1 14.655 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 14.657 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.658 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 14.658 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 14.658 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 14.659 * [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))))) 14.659 * [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)))) 14.660 * [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))))) 14.660 * [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))))) 14.661 * [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)))))) into (- (* 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))))) 14.662 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 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)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 14.664 * [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)))) (* 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 lambda1 2)))) (+ (* 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))))) 14.665 * [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 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 lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 14.667 * [backup-simplify]: Simplify (+ 0 (- (* 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))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 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))))))) 14.670 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 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 (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)))))))) 14.670 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi2 14.670 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi2 14.670 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in phi2 14.670 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 14.670 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 14.670 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.670 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.670 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.670 * [backup-simplify]: Simplify 0.5 into 0.5 14.670 * [taylor]: Taking taylor expansion of phi2 in phi2 14.670 * [backup-simplify]: Simplify 0 into 0 14.670 * [backup-simplify]: Simplify 1 into 1 14.671 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.672 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.675 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.675 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 14.675 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 14.675 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.675 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.675 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.675 * [backup-simplify]: Simplify 0.5 into 0.5 14.675 * [taylor]: Taking taylor expansion of phi1 in phi2 14.675 * [backup-simplify]: Simplify phi1 into phi1 14.675 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.675 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.675 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.675 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.676 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.676 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.676 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 14.676 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.676 * [backup-simplify]: Simplify lambda1 into lambda1 14.676 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in phi2 14.676 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 14.676 * [taylor]: Taking taylor expansion of phi2 in phi2 14.676 * [backup-simplify]: Simplify 0 into 0 14.676 * [backup-simplify]: Simplify 1 into 1 14.676 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2 14.676 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 14.676 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 14.676 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.676 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.676 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.676 * [backup-simplify]: Simplify 0.5 into 0.5 14.676 * [taylor]: Taking taylor expansion of phi2 in phi2 14.676 * [backup-simplify]: Simplify 0 into 0 14.676 * [backup-simplify]: Simplify 1 into 1 14.676 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.677 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.679 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.679 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 14.679 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 14.679 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.679 * [backup-simplify]: Simplify lambda2 into lambda2 14.679 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 14.679 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.679 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.679 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.679 * [backup-simplify]: Simplify 0.5 into 0.5 14.679 * [taylor]: Taking taylor expansion of phi1 in phi2 14.679 * [backup-simplify]: Simplify phi1 into phi1 14.679 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.679 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.679 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.679 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.679 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.679 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.679 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2 14.679 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 14.679 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 14.679 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.680 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.680 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.680 * [backup-simplify]: Simplify 0.5 into 0.5 14.680 * [taylor]: Taking taylor expansion of phi2 in phi2 14.680 * [backup-simplify]: Simplify 0 into 0 14.680 * [backup-simplify]: Simplify 1 into 1 14.680 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.681 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.681 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 14.681 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 14.681 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.681 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.681 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.681 * [backup-simplify]: Simplify 0.5 into 0.5 14.681 * [taylor]: Taking taylor expansion of phi1 in phi2 14.681 * [backup-simplify]: Simplify phi1 into phi1 14.681 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.681 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.681 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.681 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.681 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.681 * [backup-simplify]: Simplify (- 0) into 0 14.681 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.681 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 14.681 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.682 * [backup-simplify]: Simplify lambda2 into lambda2 14.682 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2 14.682 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 14.682 * [taylor]: Taking taylor expansion of phi1 in phi2 14.682 * [backup-simplify]: Simplify phi1 into phi1 14.682 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 14.682 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 14.682 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.682 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.682 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.682 * [backup-simplify]: Simplify 0.5 into 0.5 14.682 * [taylor]: Taking taylor expansion of phi2 in phi2 14.682 * [backup-simplify]: Simplify 0 into 0 14.682 * [backup-simplify]: Simplify 1 into 1 14.682 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.683 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.683 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 14.683 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 14.683 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.683 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.683 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.683 * [backup-simplify]: Simplify 0.5 into 0.5 14.683 * [taylor]: Taking taylor expansion of phi1 in phi2 14.683 * [backup-simplify]: Simplify phi1 into phi1 14.683 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.683 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.683 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.683 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.683 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.684 * [backup-simplify]: Simplify (- 0) into 0 14.684 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.684 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 14.684 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.684 * [backup-simplify]: Simplify lambda1 into lambda1 14.684 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 14.684 * [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 14.684 * [taylor]: Taking taylor expansion of 2 in phi2 14.684 * [backup-simplify]: Simplify 2 into 2 14.684 * [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 14.684 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.684 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.684 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.684 * [backup-simplify]: Simplify 0.5 into 0.5 14.684 * [taylor]: Taking taylor expansion of phi2 in phi2 14.684 * [backup-simplify]: Simplify 0 into 0 14.684 * [backup-simplify]: Simplify 1 into 1 14.684 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.685 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.685 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 14.685 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.685 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.685 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.685 * [backup-simplify]: Simplify 0.5 into 0.5 14.685 * [taylor]: Taking taylor expansion of phi2 in phi2 14.685 * [backup-simplify]: Simplify 0 into 0 14.685 * [backup-simplify]: Simplify 1 into 1 14.685 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.686 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.686 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 14.686 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.686 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.686 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.686 * [backup-simplify]: Simplify 0.5 into 0.5 14.687 * [taylor]: Taking taylor expansion of phi1 in phi2 14.687 * [backup-simplify]: Simplify phi1 into phi1 14.687 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.687 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.687 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.687 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 14.687 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.687 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.687 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.687 * [backup-simplify]: Simplify 0.5 into 0.5 14.687 * [taylor]: Taking taylor expansion of phi1 in phi2 14.687 * [backup-simplify]: Simplify phi1 into phi1 14.687 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.687 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.687 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.687 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 14.687 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.687 * [backup-simplify]: Simplify lambda2 into lambda2 14.687 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 14.687 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 14.687 * [taylor]: Taking taylor expansion of 2 in phi2 14.687 * [backup-simplify]: Simplify 2 into 2 14.687 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 14.687 * [taylor]: Taking taylor expansion of phi2 in phi2 14.687 * [backup-simplify]: Simplify 0 into 0 14.687 * [backup-simplify]: Simplify 1 into 1 14.687 * [taylor]: Taking taylor expansion of phi1 in phi2 14.687 * [backup-simplify]: Simplify phi1 into phi1 14.687 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 14.687 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2 14.687 * [taylor]: Taking taylor expansion of 2 in phi2 14.687 * [backup-simplify]: Simplify 2 into 2 14.687 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2 14.687 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.687 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.687 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.687 * [backup-simplify]: Simplify 0.5 into 0.5 14.687 * [taylor]: Taking taylor expansion of phi2 in phi2 14.687 * [backup-simplify]: Simplify 0 into 0 14.687 * [backup-simplify]: Simplify 1 into 1 14.688 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.688 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.689 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2 14.689 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.689 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.689 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.689 * [backup-simplify]: Simplify 0.5 into 0.5 14.689 * [taylor]: Taking taylor expansion of phi2 in phi2 14.689 * [backup-simplify]: Simplify 0 into 0 14.689 * [backup-simplify]: Simplify 1 into 1 14.689 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.690 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.690 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2 14.690 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.690 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.690 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.690 * [backup-simplify]: Simplify 0.5 into 0.5 14.690 * [taylor]: Taking taylor expansion of phi1 in phi2 14.690 * [backup-simplify]: Simplify phi1 into phi1 14.690 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.690 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.690 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.690 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2 14.690 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.690 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.690 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.690 * [backup-simplify]: Simplify 0.5 into 0.5 14.690 * [taylor]: Taking taylor expansion of phi1 in phi2 14.690 * [backup-simplify]: Simplify phi1 into phi1 14.690 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.690 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.690 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.690 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 14.690 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.690 * [backup-simplify]: Simplify lambda1 into lambda1 14.690 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 14.690 * [taylor]: Taking taylor expansion of 2 in phi2 14.690 * [backup-simplify]: Simplify 2 into 2 14.690 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 14.690 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.691 * [backup-simplify]: Simplify lambda2 into lambda2 14.691 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 14.691 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 14.691 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 14.691 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 14.691 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.691 * [backup-simplify]: Simplify 0.5 into 0.5 14.691 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 14.691 * [taylor]: Taking taylor expansion of phi2 in phi2 14.691 * [backup-simplify]: Simplify 0 into 0 14.691 * [backup-simplify]: Simplify 1 into 1 14.691 * [taylor]: Taking taylor expansion of phi1 in phi2 14.691 * [backup-simplify]: Simplify phi1 into phi1 14.691 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 14.691 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.691 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.691 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.691 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.691 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.691 * [backup-simplify]: Simplify (- 0) into 0 14.691 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.691 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.691 * [backup-simplify]: Simplify lambda1 into lambda1 14.692 * [backup-simplify]: Simplify (* 1 1) into 1 14.692 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 14.692 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.692 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 14.692 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 14.692 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 14.693 * [backup-simplify]: Simplify (* 1 1) into 1 14.693 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 14.693 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.693 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 14.693 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 14.693 * [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)) 14.694 * [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))) 14.694 * [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))) 14.695 * [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))) 14.696 * [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))) 14.696 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.696 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.696 * [backup-simplify]: Simplify (- 0) into 0 14.696 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.696 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.696 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.696 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.696 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.696 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 14.697 * [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))) 14.697 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 14.697 * [backup-simplify]: Simplify (* 1 0) into 0 14.697 * [backup-simplify]: Simplify (* 2 0) into 0 14.697 * [backup-simplify]: Simplify (* 0 phi1) into 0 14.698 * [backup-simplify]: Simplify (* 2 0) into 0 14.698 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.698 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.698 * [backup-simplify]: Simplify (- 0) into 0 14.698 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.698 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.698 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.698 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.698 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.698 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2)) 14.699 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) 14.699 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 14.699 * [backup-simplify]: Simplify (* 1 0) into 0 14.699 * [backup-simplify]: Simplify (* 2 0) into 0 14.699 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 14.699 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 14.700 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 14.700 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 14.700 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 14.700 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 14.700 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 14.701 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 14.701 * [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)))) 14.702 * [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))))) 14.702 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.702 * [backup-simplify]: Simplify (+ 0) into 0 14.703 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.703 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.703 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.704 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.704 * [backup-simplify]: Simplify (- 0) into 0 14.704 * [backup-simplify]: Simplify (+ 0 0) into 0 14.704 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.704 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 14.705 * [backup-simplify]: Simplify (+ 0) into 0 14.705 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.706 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 14.706 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 14.706 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 14.706 * [backup-simplify]: Simplify (+ 0) into 0 14.706 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.707 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.707 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.707 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.708 * [backup-simplify]: Simplify (- 0) into 0 14.708 * [backup-simplify]: Simplify (+ 0 0) into 0 14.708 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.708 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 14.709 * [backup-simplify]: Simplify (+ 0) into 0 14.710 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.710 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 14.711 * [backup-simplify]: Simplify (+ 0 0) into 0 14.711 * [backup-simplify]: Simplify (+ 0 0) into 0 14.711 * [backup-simplify]: Simplify (+ 0 0) into 0 14.712 * [backup-simplify]: Simplify (+ 0 0) into 0 14.712 * [backup-simplify]: Simplify (+ 0 0) into 0 14.712 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.713 * [backup-simplify]: Simplify (+ 0) into 0 14.713 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.714 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.715 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.715 * [backup-simplify]: Simplify (+ 0 0) into 0 14.716 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 14.716 * [backup-simplify]: Simplify (+ 0) into 0 14.717 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.717 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.718 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.719 * [backup-simplify]: Simplify (- 0) into 0 14.719 * [backup-simplify]: Simplify (+ 0 0) into 0 14.719 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 14.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.723 * [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)))) 14.726 * [backup-simplify]: Simplify (+ 0) into 0 14.727 * [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)))) 14.727 * [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)))) 14.728 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 14.728 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 14.728 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 14.728 * [backup-simplify]: Simplify (+ 0) into 0 14.729 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.729 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.730 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.730 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.730 * [backup-simplify]: Simplify (+ 0 0) into 0 14.730 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0 14.730 * [backup-simplify]: Simplify (+ 0) into 0 14.731 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.731 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.732 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.732 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.732 * [backup-simplify]: Simplify (- 0) into 0 14.732 * [backup-simplify]: Simplify (+ 0 0) into 0 14.733 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 14.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.734 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 14.735 * [backup-simplify]: Simplify (+ 0) into 0 14.735 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 14.736 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 14.736 * [backup-simplify]: Simplify (+ 0) into 0 14.736 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.736 * [backup-simplify]: Simplify (+ 1 0) into 1 14.737 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 14.738 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.738 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 14.739 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 14.739 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 14.739 * [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))))) 14.739 * [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)))) 14.739 * [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))))) 14.740 * [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))))) 14.740 * [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)))))) into (- (* 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))))) 14.741 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 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)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 14.741 * [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)))) (* 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 lambda1 2)))) (+ (* 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))))) 14.742 * [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 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 lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 14.743 * [backup-simplify]: Simplify (+ 0 (- (* 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))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 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))))))) 14.745 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 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 (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)))))))) 14.745 * [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 14.745 * [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 14.745 * [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 14.745 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 14.745 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.745 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.745 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.745 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.745 * [backup-simplify]: Simplify 0.5 into 0.5 14.745 * [taylor]: Taking taylor expansion of phi1 in phi1 14.745 * [backup-simplify]: Simplify 0 into 0 14.745 * [backup-simplify]: Simplify 1 into 1 14.745 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.746 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.746 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.746 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.746 * [backup-simplify]: Simplify lambda2 into lambda2 14.746 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 14.746 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 14.747 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.747 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.747 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.747 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.747 * [backup-simplify]: Simplify 0.5 into 0.5 14.747 * [taylor]: Taking taylor expansion of phi1 in phi1 14.747 * [backup-simplify]: Simplify 0 into 0 14.747 * [backup-simplify]: Simplify 1 into 1 14.747 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.748 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.748 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.749 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.749 * [backup-simplify]: Simplify lambda1 into lambda1 14.749 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 14.749 * [taylor]: Taking taylor expansion of phi1 in phi1 14.749 * [backup-simplify]: Simplify 0 into 0 14.749 * [backup-simplify]: Simplify 1 into 1 14.749 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 14.749 * [taylor]: Taking taylor expansion of 2 in phi1 14.749 * [backup-simplify]: Simplify 2 into 2 14.749 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 14.749 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.749 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.749 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.749 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.749 * [backup-simplify]: Simplify 0.5 into 0.5 14.749 * [taylor]: Taking taylor expansion of phi1 in phi1 14.749 * [backup-simplify]: Simplify 0 into 0 14.749 * [backup-simplify]: Simplify 1 into 1 14.750 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.750 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.750 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 14.750 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.750 * [backup-simplify]: Simplify lambda2 into lambda2 14.750 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.750 * [backup-simplify]: Simplify lambda1 into lambda1 14.751 * [backup-simplify]: Simplify (* 1 1) into 1 14.751 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.751 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 14.751 * [backup-simplify]: Simplify (* 1 1) into 1 14.751 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.751 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 14.751 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 14.752 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 14.752 * [backup-simplify]: Simplify (* 1 1) into 1 14.752 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 14.752 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 14.752 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 14.752 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 14.753 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 14.753 * [backup-simplify]: Simplify (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 14.753 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.754 * [backup-simplify]: Simplify (+ 0) into 0 14.754 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.755 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 14.755 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 14.755 * [backup-simplify]: Simplify (+ 0) into 0 14.756 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.757 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 14.757 * [backup-simplify]: Simplify (+ 0 0) into 0 14.757 * [backup-simplify]: Simplify (+ 0 0) into 0 14.757 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 14.758 * [backup-simplify]: Simplify (+ 0) into 0 14.758 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.759 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 14.759 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 14.760 * [backup-simplify]: Simplify (- 0) into 0 14.760 * [backup-simplify]: Simplify (+ 0 0) into 0 14.761 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) into 0 14.761 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 14.761 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 14.761 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 14.761 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 14.761 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.761 * [backup-simplify]: Simplify 0 into 0 14.761 * [backup-simplify]: Simplify 1 into 1 14.761 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 14.761 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.761 * [backup-simplify]: Simplify lambda2 into lambda2 14.761 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 14.761 * [taylor]: Taking taylor expansion of 2 in lambda1 14.761 * [backup-simplify]: Simplify 2 into 2 14.761 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 14.761 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.761 * [backup-simplify]: Simplify lambda2 into lambda2 14.761 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.761 * [backup-simplify]: Simplify 0 into 0 14.761 * [backup-simplify]: Simplify 1 into 1 14.761 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.761 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 14.762 * [backup-simplify]: Simplify (* lambda2 0) into 0 14.762 * [backup-simplify]: Simplify (* 2 0) into 0 14.762 * [backup-simplify]: Simplify (- 0) into 0 14.763 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 14.763 * [backup-simplify]: Simplify (sqrt (pow lambda2 2)) into lambda2 14.763 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.763 * [backup-simplify]: Simplify (+ 0 0) into 0 14.764 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 14.764 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 14.764 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 14.764 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 14.764 * [backup-simplify]: Simplify (/ (- (* 2 lambda2)) (* 2 (sqrt (pow lambda2 2)))) into -1 14.764 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.765 * [backup-simplify]: Simplify 0 into 0 14.765 * [backup-simplify]: Simplify 1 into 1 14.765 * [backup-simplify]: Simplify 0 into 0 14.765 * [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 14.765 * [taylor]: Taking taylor expansion of 1/2 in phi1 14.765 * [backup-simplify]: Simplify 1/2 into 1/2 14.765 * [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 14.765 * [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 14.765 * [taylor]: Taking taylor expansion of (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) in phi1 14.765 * [taylor]: Taking taylor expansion of 2.0 in phi1 14.765 * [backup-simplify]: Simplify 2.0 into 2.0 14.765 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))) in phi1 14.765 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.765 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.765 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.765 * [backup-simplify]: Simplify 0.5 into 0.5 14.765 * [taylor]: Taking taylor expansion of phi1 in phi1 14.765 * [backup-simplify]: Simplify 0 into 0 14.765 * [backup-simplify]: Simplify 1 into 1 14.766 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.767 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.767 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 lambda1)) in phi1 14.767 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.767 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.767 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.767 * [backup-simplify]: Simplify 0.5 into 0.5 14.767 * [taylor]: Taking taylor expansion of phi1 in phi1 14.767 * [backup-simplify]: Simplify 0 into 0 14.767 * [backup-simplify]: Simplify 1 into 1 14.768 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.769 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.769 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 14.769 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.769 * [backup-simplify]: Simplify lambda2 into lambda2 14.769 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.769 * [backup-simplify]: Simplify lambda1 into lambda1 14.769 * [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 14.769 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 14.769 * [taylor]: Taking taylor expansion of 1.0 in phi1 14.770 * [backup-simplify]: Simplify 1.0 into 1.0 14.770 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 14.770 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.770 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.770 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.770 * [backup-simplify]: Simplify 0.5 into 0.5 14.770 * [taylor]: Taking taylor expansion of phi1 in phi1 14.770 * [backup-simplify]: Simplify 0 into 0 14.770 * [backup-simplify]: Simplify 1 into 1 14.770 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.772 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.772 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 14.772 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.772 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.772 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.772 * [backup-simplify]: Simplify 0.5 into 0.5 14.772 * [taylor]: Taking taylor expansion of phi1 in phi1 14.772 * [backup-simplify]: Simplify 0 into 0 14.772 * [backup-simplify]: Simplify 1 into 1 14.772 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.774 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.774 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.774 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.774 * [backup-simplify]: Simplify lambda1 into lambda1 14.774 * [taylor]: Taking taylor expansion of (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) in phi1 14.774 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 14.774 * [taylor]: Taking taylor expansion of 1.0 in phi1 14.774 * [backup-simplify]: Simplify 1.0 into 1.0 14.774 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 14.774 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.774 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.774 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.774 * [backup-simplify]: Simplify 0.5 into 0.5 14.774 * [taylor]: Taking taylor expansion of phi1 in phi1 14.774 * [backup-simplify]: Simplify 0 into 0 14.774 * [backup-simplify]: Simplify 1 into 1 14.775 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.776 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.776 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 14.776 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.776 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.776 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.776 * [backup-simplify]: Simplify 0.5 into 0.5 14.776 * [taylor]: Taking taylor expansion of phi1 in phi1 14.776 * [backup-simplify]: Simplify 0 into 0 14.776 * [backup-simplify]: Simplify 1 into 1 14.777 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.778 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.778 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.778 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.779 * [backup-simplify]: Simplify lambda2 into lambda2 14.779 * [taylor]: Taking taylor expansion of (* 2 phi1) in phi1 14.779 * [taylor]: Taking taylor expansion of 2 in phi1 14.779 * [backup-simplify]: Simplify 2 into 2 14.779 * [taylor]: Taking taylor expansion of phi1 in phi1 14.779 * [backup-simplify]: Simplify 0 into 0 14.779 * [backup-simplify]: Simplify 1 into 1 14.779 * [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 14.779 * [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 14.779 * [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 14.779 * [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 14.779 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 14.779 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.779 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.779 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.779 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.779 * [backup-simplify]: Simplify 0.5 into 0.5 14.779 * [taylor]: Taking taylor expansion of phi1 in phi1 14.779 * [backup-simplify]: Simplify 0 into 0 14.779 * [backup-simplify]: Simplify 1 into 1 14.780 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.781 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.781 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.781 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.781 * [backup-simplify]: Simplify lambda2 into lambda2 14.781 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 14.781 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 14.781 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.781 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.781 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.781 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.781 * [backup-simplify]: Simplify 0.5 into 0.5 14.781 * [taylor]: Taking taylor expansion of phi1 in phi1 14.781 * [backup-simplify]: Simplify 0 into 0 14.781 * [backup-simplify]: Simplify 1 into 1 14.782 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.783 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.783 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.783 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.783 * [backup-simplify]: Simplify lambda1 into lambda1 14.783 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 14.783 * [taylor]: Taking taylor expansion of phi1 in phi1 14.783 * [backup-simplify]: Simplify 0 into 0 14.784 * [backup-simplify]: Simplify 1 into 1 14.784 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 14.784 * [taylor]: Taking taylor expansion of 2 in phi1 14.784 * [backup-simplify]: Simplify 2 into 2 14.784 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 14.784 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.784 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.784 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.784 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.784 * [backup-simplify]: Simplify 0.5 into 0.5 14.784 * [taylor]: Taking taylor expansion of phi1 in phi1 14.784 * [backup-simplify]: Simplify 0 into 0 14.784 * [backup-simplify]: Simplify 1 into 1 14.784 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.786 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.786 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 14.786 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.786 * [backup-simplify]: Simplify lambda2 into lambda2 14.786 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.786 * [backup-simplify]: Simplify lambda1 into lambda1 14.786 * [backup-simplify]: Simplify (* 1 1) into 1 14.786 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.786 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 14.787 * [backup-simplify]: Simplify (* 1 1) into 1 14.787 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.787 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 14.787 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 14.787 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 14.788 * [backup-simplify]: Simplify (* 1 1) into 1 14.788 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 14.788 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 14.788 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 14.788 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 14.789 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 14.789 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 14.789 * [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))))) 14.790 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.790 * [backup-simplify]: Simplify (+ 0) into 0 14.791 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.791 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 14.791 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 14.792 * [backup-simplify]: Simplify (+ 0) into 0 14.792 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.793 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 14.793 * [backup-simplify]: Simplify (+ 0 0) into 0 14.794 * [backup-simplify]: Simplify (+ 0 0) into 0 14.794 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 14.794 * [backup-simplify]: Simplify (+ 0) into 0 14.795 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.795 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 14.796 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 14.796 * [backup-simplify]: Simplify (- 0) into 0 14.796 * [backup-simplify]: Simplify (+ 0 0) into 0 14.797 * [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 14.798 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into 0 14.798 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 14.798 * [backup-simplify]: Simplify (* 0 (* lambda2 lambda1)) into 0 14.798 * [backup-simplify]: Simplify (* 1 0) into 0 14.799 * [backup-simplify]: Simplify (* 2.0 0) into 0 14.799 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.799 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 14.799 * [backup-simplify]: Simplify (* 1 0) into 0 14.800 * [backup-simplify]: Simplify (* 1.0 0) into 0 14.800 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.800 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 14.800 * [backup-simplify]: Simplify (* 1 0) into 0 14.801 * [backup-simplify]: Simplify (* 1.0 0) into 0 14.801 * [backup-simplify]: Simplify (* 2 0) into 0 14.802 * [backup-simplify]: Simplify (+ 0 0) into 0 14.802 * [backup-simplify]: Simplify (+ 0 0) into 0 14.802 * [backup-simplify]: Simplify (- 0) into 0 14.803 * [backup-simplify]: Simplify (+ 0 0) into 0 14.803 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) into 0 14.804 * [backup-simplify]: Simplify (* 1/2 0) into 0 14.804 * [taylor]: Taking taylor expansion of 0 in lambda1 14.804 * [backup-simplify]: Simplify 0 into 0 14.804 * [taylor]: Taking taylor expansion of 0 in lambda2 14.804 * [backup-simplify]: Simplify 0 into 0 14.804 * [backup-simplify]: Simplify 0 into 0 14.804 * [taylor]: Taking taylor expansion of 0 in lambda1 14.804 * [backup-simplify]: Simplify 0 into 0 14.804 * [taylor]: Taking taylor expansion of 0 in lambda2 14.804 * [backup-simplify]: Simplify 0 into 0 14.804 * [backup-simplify]: Simplify 0 into 0 14.804 * [taylor]: Taking taylor expansion of -1 in lambda2 14.804 * [backup-simplify]: Simplify -1 into -1 14.804 * [backup-simplify]: Simplify -1 into -1 14.804 * [backup-simplify]: Simplify 1 into 1 14.805 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 14.805 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 14.805 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.805 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) 14.806 * [backup-simplify]: Simplify (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) into (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 14.806 * [backup-simplify]: Simplify (* 1 1) into 1 14.806 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 14.806 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.807 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 14.807 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 14.807 * [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))) 14.808 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 14.809 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.810 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.811 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.811 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.812 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.812 * [backup-simplify]: Simplify (- 0) into 0 14.813 * [backup-simplify]: Simplify (+ 0 0) into 0 14.813 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 14.814 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda2 2)))) into 0 14.817 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 14.821 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 14.823 * [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)))) 14.823 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 14.824 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 14.825 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.825 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.826 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.827 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.828 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.828 * [backup-simplify]: Simplify (- 0) into 0 14.829 * [backup-simplify]: Simplify (+ 0 0) into 0 14.829 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 14.830 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0 14.833 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 14.837 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 14.839 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 14.839 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 14.840 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 14.841 * [backup-simplify]: Simplify (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (- (+ (* 0.25 (* (pow (cos (* 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 (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 14.843 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 0.25 (* (pow (cos (* 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))) 1) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 14.845 * [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 lambda2 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 (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))))) 14.846 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 14.847 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.848 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.848 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.850 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.850 * [backup-simplify]: Simplify (+ 0 0) into 0 14.851 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda2 2)))) into 0 14.852 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.853 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.853 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.854 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.855 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.855 * [backup-simplify]: Simplify (- 0) into 0 14.856 * [backup-simplify]: Simplify (+ 0 0) into 0 14.856 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0 14.857 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 14.858 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.859 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) into 0 14.867 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 14.868 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* (- 0.125) 0))) into 0 14.870 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0))) into 0 14.870 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 14.871 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi1) (* 0 0))) into 0 14.872 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 14.873 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.873 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.874 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.875 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.876 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.876 * [backup-simplify]: Simplify (+ 0 0) into 0 14.876 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0 14.877 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.877 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.878 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.878 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.878 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.879 * [backup-simplify]: Simplify (- 0) into 0 14.879 * [backup-simplify]: Simplify (+ 0 0) into 0 14.879 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0 14.880 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 14.880 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.881 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0 14.883 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 14.883 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* (- 0.125) 0))) into 0 14.884 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0))) into 0 14.886 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 14.886 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 14.887 * [backup-simplify]: Simplify (+ 0 0) into 0 14.887 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 14.888 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.888 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 14.888 * [backup-simplify]: Simplify (- 0) into 0 14.889 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 14.889 * [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))) 14.890 * [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))) 14.890 * [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)))) 14.891 * [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)))) 14.891 * [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)))) 14.892 * [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)))) 14.892 * [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)))) 14.893 * [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)))) 14.894 * [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)))))) 14.900 * [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)))))))))))))))) 14.900 * [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 14.900 * [taylor]: Taking taylor expansion of 1/2 in phi1 14.900 * [backup-simplify]: Simplify 1/2 into 1/2 14.900 * [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 14.900 * [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 14.900 * [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 14.900 * [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 14.900 * [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 14.900 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 14.900 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.900 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.900 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.900 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.900 * [backup-simplify]: Simplify 0.5 into 0.5 14.901 * [taylor]: Taking taylor expansion of phi1 in phi1 14.901 * [backup-simplify]: Simplify 0 into 0 14.901 * [backup-simplify]: Simplify 1 into 1 14.901 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.902 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.902 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.902 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.902 * [backup-simplify]: Simplify lambda2 into lambda2 14.902 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 14.902 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 14.902 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.902 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.902 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.902 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.902 * [backup-simplify]: Simplify 0.5 into 0.5 14.902 * [taylor]: Taking taylor expansion of phi1 in phi1 14.902 * [backup-simplify]: Simplify 0 into 0 14.902 * [backup-simplify]: Simplify 1 into 1 14.902 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.903 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.903 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.903 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.903 * [backup-simplify]: Simplify lambda1 into lambda1 14.903 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 14.903 * [taylor]: Taking taylor expansion of phi1 in phi1 14.903 * [backup-simplify]: Simplify 0 into 0 14.903 * [backup-simplify]: Simplify 1 into 1 14.903 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 14.903 * [taylor]: Taking taylor expansion of 2 in phi1 14.903 * [backup-simplify]: Simplify 2 into 2 14.903 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 14.903 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.904 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.904 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.904 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.904 * [backup-simplify]: Simplify 0.5 into 0.5 14.904 * [taylor]: Taking taylor expansion of phi1 in phi1 14.904 * [backup-simplify]: Simplify 0 into 0 14.904 * [backup-simplify]: Simplify 1 into 1 14.904 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.906 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.906 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 14.906 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.906 * [backup-simplify]: Simplify lambda2 into lambda2 14.906 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.906 * [backup-simplify]: Simplify lambda1 into lambda1 14.906 * [backup-simplify]: Simplify (* 1 1) into 1 14.906 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.906 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 14.907 * [backup-simplify]: Simplify (* 1 1) into 1 14.907 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.907 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 14.907 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 14.907 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 14.908 * [backup-simplify]: Simplify (* 1 1) into 1 14.908 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 14.908 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 14.908 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 14.908 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 14.909 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 14.909 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 14.910 * [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))))) 14.910 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 14.910 * [backup-simplify]: Simplify (+ 0) into 0 14.911 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.912 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 14.912 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 14.912 * [backup-simplify]: Simplify (+ 0) into 0 14.913 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.913 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 14.914 * [backup-simplify]: Simplify (+ 0 0) into 0 14.914 * [backup-simplify]: Simplify (+ 0 0) into 0 14.914 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 14.915 * [backup-simplify]: Simplify (+ 0) into 0 14.915 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 14.916 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 14.916 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 14.917 * [backup-simplify]: Simplify (- 0) into 0 14.917 * [backup-simplify]: Simplify (+ 0 0) into 0 14.918 * [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 14.918 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into 0 14.918 * [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 14.919 * [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 14.919 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 14.919 * [taylor]: Taking taylor expansion of 0.25 in phi1 14.919 * [backup-simplify]: Simplify 0.25 into 0.25 14.919 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 14.919 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 14.919 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.919 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.919 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.919 * [backup-simplify]: Simplify 0.5 into 0.5 14.919 * [taylor]: Taking taylor expansion of phi1 in phi1 14.919 * [backup-simplify]: Simplify 0 into 0 14.919 * [backup-simplify]: Simplify 1 into 1 14.920 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.921 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.924 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.924 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.924 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.924 * [backup-simplify]: Simplify lambda2 into lambda2 14.924 * [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 14.924 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 14.924 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.924 * [backup-simplify]: Simplify 0.5 into 0.5 14.924 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 14.924 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.924 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.924 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.924 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.924 * [backup-simplify]: Simplify 0.5 into 0.5 14.924 * [taylor]: Taking taylor expansion of phi1 in phi1 14.924 * [backup-simplify]: Simplify 0 into 0 14.924 * [backup-simplify]: Simplify 1 into 1 14.925 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.926 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.926 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 14.926 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.926 * [backup-simplify]: Simplify lambda2 into lambda2 14.926 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.926 * [backup-simplify]: Simplify lambda1 into lambda1 14.926 * [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 14.926 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 14.927 * [taylor]: Taking taylor expansion of 0.25 in phi1 14.927 * [backup-simplify]: Simplify 0.25 into 0.25 14.927 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 14.927 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 14.927 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.927 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.927 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.927 * [backup-simplify]: Simplify 0.5 into 0.5 14.927 * [taylor]: Taking taylor expansion of phi1 in phi1 14.927 * [backup-simplify]: Simplify 0 into 0 14.927 * [backup-simplify]: Simplify 1 into 1 14.927 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.929 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.931 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.931 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.931 * [backup-simplify]: Simplify lambda1 into lambda1 14.931 * [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 14.932 * [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 14.932 * [taylor]: Taking taylor expansion of 1.0 in phi1 14.932 * [backup-simplify]: Simplify 1.0 into 1.0 14.932 * [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 14.932 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) in phi1 14.932 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.932 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.932 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.932 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.932 * [backup-simplify]: Simplify 0.5 into 0.5 14.932 * [taylor]: Taking taylor expansion of phi1 in phi1 14.932 * [backup-simplify]: Simplify 0 into 0 14.932 * [backup-simplify]: Simplify 1 into 1 14.932 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.934 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.934 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1)) in phi1 14.934 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 14.934 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.934 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.934 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.934 * [backup-simplify]: Simplify 0.5 into 0.5 14.934 * [taylor]: Taking taylor expansion of phi1 in phi1 14.934 * [backup-simplify]: Simplify 0 into 0 14.934 * [backup-simplify]: Simplify 1 into 1 14.935 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.936 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.939 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) lambda1) in phi1 14.939 * [taylor]: Taking taylor expansion of (pow lambda2 3) in phi1 14.939 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.939 * [backup-simplify]: Simplify lambda2 into lambda2 14.939 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.939 * [backup-simplify]: Simplify lambda1 into lambda1 14.939 * [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 14.939 * [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 14.939 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 14.939 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.939 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.939 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.939 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.939 * [backup-simplify]: Simplify 0.5 into 0.5 14.939 * [taylor]: Taking taylor expansion of phi1 in phi1 14.939 * [backup-simplify]: Simplify 0 into 0 14.939 * [backup-simplify]: Simplify 1 into 1 14.940 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.941 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.941 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.941 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.941 * [backup-simplify]: Simplify lambda2 into lambda2 14.941 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 14.941 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 14.942 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.942 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.942 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.942 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.942 * [backup-simplify]: Simplify 0.5 into 0.5 14.942 * [taylor]: Taking taylor expansion of phi1 in phi1 14.942 * [backup-simplify]: Simplify 0 into 0 14.942 * [backup-simplify]: Simplify 1 into 1 14.942 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.944 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.944 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.944 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.944 * [backup-simplify]: Simplify lambda1 into lambda1 14.944 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 14.944 * [taylor]: Taking taylor expansion of phi1 in phi1 14.944 * [backup-simplify]: Simplify 0 into 0 14.944 * [backup-simplify]: Simplify 1 into 1 14.944 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 14.944 * [taylor]: Taking taylor expansion of 2 in phi1 14.944 * [backup-simplify]: Simplify 2 into 2 14.944 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 14.944 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.944 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.944 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.944 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.944 * [backup-simplify]: Simplify 0.5 into 0.5 14.944 * [taylor]: Taking taylor expansion of phi1 in phi1 14.944 * [backup-simplify]: Simplify 0 into 0 14.944 * [backup-simplify]: Simplify 1 into 1 14.945 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.946 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.946 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 14.946 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.946 * [backup-simplify]: Simplify lambda2 into lambda2 14.946 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.946 * [backup-simplify]: Simplify lambda1 into lambda1 14.947 * [backup-simplify]: Simplify (* 1 1) into 1 14.947 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 14.947 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.947 * [backup-simplify]: Simplify (* lambda2 (pow lambda2 2)) into (pow lambda2 3) 14.947 * [backup-simplify]: Simplify (* (pow lambda2 3) lambda1) into (* (pow lambda2 3) lambda1) 14.948 * [backup-simplify]: Simplify (* 0.25 (* (pow lambda2 3) lambda1)) into (* 0.25 (* (pow lambda2 3) lambda1)) 14.948 * [backup-simplify]: Simplify (* 1 (* 0.25 (* (pow lambda2 3) lambda1))) into (* 0.25 (* (pow lambda2 3) lambda1)) 14.948 * [backup-simplify]: Simplify (* 1 1) into 1 14.948 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.948 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 14.949 * [backup-simplify]: Simplify (* 1 1) into 1 14.949 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.949 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 14.949 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 14.950 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 14.950 * [backup-simplify]: Simplify (* 1 1) into 1 14.950 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 14.950 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 14.950 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 14.950 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 14.951 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 14.951 * [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))))) 14.951 * [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 14.951 * [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 14.951 * [taylor]: Taking taylor expansion of 2.0 in phi1 14.952 * [backup-simplify]: Simplify 2.0 into 2.0 14.952 * [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 14.952 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) in phi1 14.952 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.952 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.952 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.952 * [backup-simplify]: Simplify 0.5 into 0.5 14.952 * [taylor]: Taking taylor expansion of phi1 in phi1 14.952 * [backup-simplify]: Simplify 0 into 0 14.952 * [backup-simplify]: Simplify 1 into 1 14.952 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.953 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.953 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1))) in phi1 14.953 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.953 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.953 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.953 * [backup-simplify]: Simplify 0.5 into 0.5 14.953 * [taylor]: Taking taylor expansion of phi1 in phi1 14.953 * [backup-simplify]: Simplify 0 into 0 14.953 * [backup-simplify]: Simplify 1 into 1 14.953 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.954 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.954 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 phi1)) in phi1 14.954 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.954 * [backup-simplify]: Simplify lambda2 into lambda2 14.954 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 14.954 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.954 * [backup-simplify]: Simplify lambda1 into lambda1 14.954 * [taylor]: Taking taylor expansion of phi1 in phi1 14.954 * [backup-simplify]: Simplify 0 into 0 14.954 * [backup-simplify]: Simplify 1 into 1 14.954 * [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 14.954 * [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 14.954 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 14.954 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.954 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.954 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.954 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.954 * [backup-simplify]: Simplify 0.5 into 0.5 14.954 * [taylor]: Taking taylor expansion of phi1 in phi1 14.955 * [backup-simplify]: Simplify 0 into 0 14.955 * [backup-simplify]: Simplify 1 into 1 14.955 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.956 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.956 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.956 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.956 * [backup-simplify]: Simplify lambda2 into lambda2 14.956 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 14.956 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 14.956 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.956 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.956 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.956 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.956 * [backup-simplify]: Simplify 0.5 into 0.5 14.956 * [taylor]: Taking taylor expansion of phi1 in phi1 14.956 * [backup-simplify]: Simplify 0 into 0 14.956 * [backup-simplify]: Simplify 1 into 1 14.956 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.957 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.957 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.957 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.957 * [backup-simplify]: Simplify lambda1 into lambda1 14.957 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 14.957 * [taylor]: Taking taylor expansion of phi1 in phi1 14.957 * [backup-simplify]: Simplify 0 into 0 14.957 * [backup-simplify]: Simplify 1 into 1 14.957 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 14.957 * [taylor]: Taking taylor expansion of 2 in phi1 14.957 * [backup-simplify]: Simplify 2 into 2 14.957 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 14.957 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.957 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.957 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.957 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.957 * [backup-simplify]: Simplify 0.5 into 0.5 14.957 * [taylor]: Taking taylor expansion of phi1 in phi1 14.957 * [backup-simplify]: Simplify 0 into 0 14.957 * [backup-simplify]: Simplify 1 into 1 14.958 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.958 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.958 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 14.958 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.959 * [backup-simplify]: Simplify lambda2 into lambda2 14.959 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.959 * [backup-simplify]: Simplify lambda1 into lambda1 14.959 * [backup-simplify]: Simplify (* lambda1 0) into 0 14.959 * [backup-simplify]: Simplify (* lambda2 0) into 0 14.959 * [backup-simplify]: Simplify (* 0 0) into 0 14.959 * [backup-simplify]: Simplify (* 1 0) into 0 14.959 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 14.960 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 14.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.961 * [backup-simplify]: Simplify (+ (* 0 (* lambda2 lambda1)) (* 0.5 0)) into 0 14.962 * [backup-simplify]: Simplify (+ 0) into 0 14.962 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 14.962 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 1) (* 0 0))) into 0 14.963 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 lambda1) (* 0 0))) into 0 14.963 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 14.964 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.964 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (* lambda2 lambda1)) (* 0 0))) into (* 0.5 (* lambda2 lambda1)) 14.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 14.966 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (* lambda2 lambda1)) 14.966 * [backup-simplify]: Simplify (* 1 1) into 1 14.967 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.967 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 14.967 * [backup-simplify]: Simplify (* 1 1) into 1 14.967 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.967 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 14.967 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 14.967 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 14.967 * [backup-simplify]: Simplify (* 1 1) into 1 14.968 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 14.968 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 14.968 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 14.968 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 14.968 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 14.968 * [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))))) 14.968 * [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 14.968 * [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 14.968 * [taylor]: Taking taylor expansion of 1.0 in phi1 14.968 * [backup-simplify]: Simplify 1.0 into 1.0 14.968 * [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 14.968 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) in phi1 14.968 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.968 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.968 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.968 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.968 * [backup-simplify]: Simplify 0.5 into 0.5 14.969 * [taylor]: Taking taylor expansion of phi1 in phi1 14.969 * [backup-simplify]: Simplify 0 into 0 14.969 * [backup-simplify]: Simplify 1 into 1 14.969 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.970 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.970 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3))) in phi1 14.970 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 14.970 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.970 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.970 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.970 * [backup-simplify]: Simplify 0.5 into 0.5 14.970 * [taylor]: Taking taylor expansion of phi1 in phi1 14.970 * [backup-simplify]: Simplify 0 into 0 14.970 * [backup-simplify]: Simplify 1 into 1 14.970 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.971 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.972 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.972 * [taylor]: Taking taylor expansion of (* lambda2 (pow lambda1 3)) in phi1 14.972 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.972 * [backup-simplify]: Simplify lambda2 into lambda2 14.972 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi1 14.972 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.972 * [backup-simplify]: Simplify lambda1 into lambda1 14.972 * [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 14.973 * [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 14.973 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 14.973 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.973 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.973 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.973 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.973 * [backup-simplify]: Simplify 0.5 into 0.5 14.973 * [taylor]: Taking taylor expansion of phi1 in phi1 14.973 * [backup-simplify]: Simplify 0 into 0 14.973 * [backup-simplify]: Simplify 1 into 1 14.973 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.974 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.974 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.974 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.974 * [backup-simplify]: Simplify lambda2 into lambda2 14.974 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 14.974 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 14.974 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.974 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.974 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.974 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.974 * [backup-simplify]: Simplify 0.5 into 0.5 14.974 * [taylor]: Taking taylor expansion of phi1 in phi1 14.974 * [backup-simplify]: Simplify 0 into 0 14.974 * [backup-simplify]: Simplify 1 into 1 14.974 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.975 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.975 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.975 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.975 * [backup-simplify]: Simplify lambda1 into lambda1 14.975 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 14.975 * [taylor]: Taking taylor expansion of phi1 in phi1 14.975 * [backup-simplify]: Simplify 0 into 0 14.975 * [backup-simplify]: Simplify 1 into 1 14.975 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 14.975 * [taylor]: Taking taylor expansion of 2 in phi1 14.975 * [backup-simplify]: Simplify 2 into 2 14.975 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 14.975 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.975 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.976 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.976 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.976 * [backup-simplify]: Simplify 0.5 into 0.5 14.976 * [taylor]: Taking taylor expansion of phi1 in phi1 14.976 * [backup-simplify]: Simplify 0 into 0 14.976 * [backup-simplify]: Simplify 1 into 1 14.976 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.981 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.981 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 14.981 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.981 * [backup-simplify]: Simplify lambda2 into lambda2 14.981 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.981 * [backup-simplify]: Simplify lambda1 into lambda1 14.982 * [backup-simplify]: Simplify (* 1 1) into 1 14.982 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 14.982 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.982 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3) 14.982 * [backup-simplify]: Simplify (* lambda2 (pow lambda1 3)) into (* lambda2 (pow lambda1 3)) 14.982 * [backup-simplify]: Simplify (* 0.25 (* lambda2 (pow lambda1 3))) into (* 0.25 (* lambda2 (pow lambda1 3))) 14.982 * [backup-simplify]: Simplify (* 1 (* 0.25 (* lambda2 (pow lambda1 3)))) into (* 0.25 (* lambda2 (pow lambda1 3))) 14.983 * [backup-simplify]: Simplify (* 1 1) into 1 14.983 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 14.983 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 14.983 * [backup-simplify]: Simplify (* 1 1) into 1 14.983 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 14.983 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 14.983 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 14.983 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 14.984 * [backup-simplify]: Simplify (* 1 1) into 1 14.984 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 14.984 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 14.984 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 14.984 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 14.984 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 14.984 * [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))))) 14.985 * [taylor]: Taking taylor expansion of 1 in phi1 14.985 * [backup-simplify]: Simplify 1 into 1 14.985 * [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 14.985 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 14.985 * [taylor]: Taking taylor expansion of 0.25 in phi1 14.985 * [backup-simplify]: Simplify 0.25 into 0.25 14.985 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 14.985 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.985 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.985 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.985 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.985 * [backup-simplify]: Simplify 0.5 into 0.5 14.985 * [taylor]: Taking taylor expansion of phi1 in phi1 14.985 * [backup-simplify]: Simplify 0 into 0 14.985 * [backup-simplify]: Simplify 1 into 1 14.985 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.986 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.986 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.986 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.986 * [backup-simplify]: Simplify lambda2 into lambda2 14.986 * [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 14.986 * [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 14.986 * [taylor]: Taking taylor expansion of 1.5 in phi1 14.986 * [backup-simplify]: Simplify 1.5 into 1.5 14.986 * [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 14.986 * [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 14.986 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.986 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.986 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.986 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.986 * [backup-simplify]: Simplify 0.5 into 0.5 14.986 * [taylor]: Taking taylor expansion of phi1 in phi1 14.986 * [backup-simplify]: Simplify 0 into 0 14.986 * [backup-simplify]: Simplify 1 into 1 14.987 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.988 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.988 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2))) in phi1 14.988 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 14.988 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.988 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.988 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.988 * [backup-simplify]: Simplify 0.5 into 0.5 14.988 * [taylor]: Taking taylor expansion of phi1 in phi1 14.988 * [backup-simplify]: Simplify 0 into 0 14.988 * [backup-simplify]: Simplify 1 into 1 14.989 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.990 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.993 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow lambda1 2)) in phi1 14.993 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.993 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.993 * [backup-simplify]: Simplify lambda2 into lambda2 14.993 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.993 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.993 * [backup-simplify]: Simplify lambda1 into lambda1 14.993 * [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 14.993 * [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 14.993 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 14.993 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.993 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.993 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.993 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.993 * [backup-simplify]: Simplify 0.5 into 0.5 14.993 * [taylor]: Taking taylor expansion of phi1 in phi1 14.993 * [backup-simplify]: Simplify 0 into 0 14.993 * [backup-simplify]: Simplify 1 into 1 14.994 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.995 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.995 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 14.995 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.995 * [backup-simplify]: Simplify lambda2 into lambda2 14.995 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 14.995 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 14.995 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.995 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.995 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.995 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.995 * [backup-simplify]: Simplify 0.5 into 0.5 14.995 * [taylor]: Taking taylor expansion of phi1 in phi1 14.995 * [backup-simplify]: Simplify 0 into 0 14.996 * [backup-simplify]: Simplify 1 into 1 14.996 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.997 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.998 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 14.998 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.998 * [backup-simplify]: Simplify lambda1 into lambda1 14.998 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 14.998 * [taylor]: Taking taylor expansion of phi1 in phi1 14.998 * [backup-simplify]: Simplify 0 into 0 14.998 * [backup-simplify]: Simplify 1 into 1 14.998 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 14.998 * [taylor]: Taking taylor expansion of 2 in phi1 14.998 * [backup-simplify]: Simplify 2 into 2 14.998 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 14.998 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 14.998 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.998 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.998 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.998 * [backup-simplify]: Simplify 0.5 into 0.5 14.998 * [taylor]: Taking taylor expansion of phi1 in phi1 14.998 * [backup-simplify]: Simplify 0 into 0 14.998 * [backup-simplify]: Simplify 1 into 1 14.999 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.000 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.000 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 15.000 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.000 * [backup-simplify]: Simplify lambda2 into lambda2 15.000 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.000 * [backup-simplify]: Simplify lambda1 into lambda1 15.001 * [backup-simplify]: Simplify (* 1 1) into 1 15.001 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 15.001 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.001 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.001 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow lambda1 2)) into (* (pow lambda2 2) (pow lambda1 2)) 15.002 * [backup-simplify]: Simplify (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) into (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) 15.002 * [backup-simplify]: Simplify (* 1 (* 0.25 (* (pow lambda2 2) (pow lambda1 2)))) into (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) 15.002 * [backup-simplify]: Simplify (* 1 1) into 1 15.002 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.002 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 15.003 * [backup-simplify]: Simplify (* 1 1) into 1 15.003 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.003 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 15.003 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 15.003 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 15.004 * [backup-simplify]: Simplify (* 1 1) into 1 15.004 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.004 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 15.004 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 15.004 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 15.005 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 15.005 * [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))))) 15.005 * [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 15.005 * [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 15.006 * [taylor]: Taking taylor expansion of 0.25 in phi1 15.006 * [backup-simplify]: Simplify 0.25 into 0.25 15.006 * [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 15.006 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) in phi1 15.006 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.006 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.006 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.006 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.006 * [backup-simplify]: Simplify 0.5 into 0.5 15.006 * [taylor]: Taking taylor expansion of phi1 in phi1 15.006 * [backup-simplify]: Simplify 0 into 0 15.006 * [backup-simplify]: Simplify 1 into 1 15.006 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.008 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.008 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4)) in phi1 15.008 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 15.008 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 15.008 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.008 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.008 * [backup-simplify]: Simplify 0.5 into 0.5 15.008 * [taylor]: Taking taylor expansion of phi1 in phi1 15.008 * [backup-simplify]: Simplify 0 into 0 15.008 * [backup-simplify]: Simplify 1 into 1 15.009 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.010 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.013 * [taylor]: Taking taylor expansion of (pow lambda1 4) in phi1 15.013 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.013 * [backup-simplify]: Simplify lambda1 into lambda1 15.013 * [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 15.013 * [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 15.013 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 15.013 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.013 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.013 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.013 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.013 * [backup-simplify]: Simplify 0.5 into 0.5 15.014 * [taylor]: Taking taylor expansion of phi1 in phi1 15.014 * [backup-simplify]: Simplify 0 into 0 15.014 * [backup-simplify]: Simplify 1 into 1 15.014 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.015 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.016 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.016 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.016 * [backup-simplify]: Simplify lambda2 into lambda2 15.016 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 15.016 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 15.016 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.016 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.016 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.016 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.016 * [backup-simplify]: Simplify 0.5 into 0.5 15.016 * [taylor]: Taking taylor expansion of phi1 in phi1 15.016 * [backup-simplify]: Simplify 0 into 0 15.016 * [backup-simplify]: Simplify 1 into 1 15.016 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.018 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.018 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.018 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.018 * [backup-simplify]: Simplify lambda1 into lambda1 15.018 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.018 * [taylor]: Taking taylor expansion of phi1 in phi1 15.018 * [backup-simplify]: Simplify 0 into 0 15.018 * [backup-simplify]: Simplify 1 into 1 15.018 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 15.018 * [taylor]: Taking taylor expansion of 2 in phi1 15.018 * [backup-simplify]: Simplify 2 into 2 15.018 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 15.018 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.018 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.018 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.018 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.018 * [backup-simplify]: Simplify 0.5 into 0.5 15.018 * [taylor]: Taking taylor expansion of phi1 in phi1 15.018 * [backup-simplify]: Simplify 0 into 0 15.018 * [backup-simplify]: Simplify 1 into 1 15.019 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.020 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.020 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 15.020 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.020 * [backup-simplify]: Simplify lambda2 into lambda2 15.020 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.020 * [backup-simplify]: Simplify lambda1 into lambda1 15.021 * [backup-simplify]: Simplify (* 1 1) into 1 15.021 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 15.021 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.022 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4) 15.022 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 4)) into (* 0.25 (pow lambda1 4)) 15.022 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda1 4))) into (* 0.25 (pow lambda1 4)) 15.022 * [backup-simplify]: Simplify (* 1 1) into 1 15.022 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.022 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 15.023 * [backup-simplify]: Simplify (* 1 1) into 1 15.023 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.023 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 15.023 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 15.023 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 15.024 * [backup-simplify]: Simplify (* 1 1) into 1 15.024 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.024 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 15.024 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 15.024 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 15.025 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 15.025 * [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))))) 15.025 * [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 15.025 * [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 15.025 * [taylor]: Taking taylor expansion of 1.0 in phi1 15.025 * [backup-simplify]: Simplify 1.0 into 1.0 15.025 * [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 15.025 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) in phi1 15.025 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.025 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.026 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.026 * [backup-simplify]: Simplify 0.5 into 0.5 15.026 * [taylor]: Taking taylor expansion of phi1 in phi1 15.026 * [backup-simplify]: Simplify 0 into 0 15.026 * [backup-simplify]: Simplify 1 into 1 15.026 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.028 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.028 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1)) in phi1 15.028 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 15.028 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.028 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.028 * [backup-simplify]: Simplify 0.5 into 0.5 15.028 * [taylor]: Taking taylor expansion of phi1 in phi1 15.028 * [backup-simplify]: Simplify 0 into 0 15.028 * [backup-simplify]: Simplify 1 into 1 15.028 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.030 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.030 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 15.030 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.030 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.030 * [backup-simplify]: Simplify lambda1 into lambda1 15.030 * [taylor]: Taking taylor expansion of phi1 in phi1 15.030 * [backup-simplify]: Simplify 0 into 0 15.030 * [backup-simplify]: Simplify 1 into 1 15.030 * [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 15.030 * [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 15.030 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 15.030 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.030 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.030 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.030 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.030 * [backup-simplify]: Simplify 0.5 into 0.5 15.030 * [taylor]: Taking taylor expansion of phi1 in phi1 15.030 * [backup-simplify]: Simplify 0 into 0 15.030 * [backup-simplify]: Simplify 1 into 1 15.031 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.032 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.032 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.032 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.032 * [backup-simplify]: Simplify lambda2 into lambda2 15.032 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 15.032 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 15.032 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.032 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.032 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.033 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.033 * [backup-simplify]: Simplify 0.5 into 0.5 15.033 * [taylor]: Taking taylor expansion of phi1 in phi1 15.033 * [backup-simplify]: Simplify 0 into 0 15.033 * [backup-simplify]: Simplify 1 into 1 15.033 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.035 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.035 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.035 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.035 * [backup-simplify]: Simplify lambda1 into lambda1 15.035 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.035 * [taylor]: Taking taylor expansion of phi1 in phi1 15.035 * [backup-simplify]: Simplify 0 into 0 15.035 * [backup-simplify]: Simplify 1 into 1 15.035 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 15.035 * [taylor]: Taking taylor expansion of 2 in phi1 15.035 * [backup-simplify]: Simplify 2 into 2 15.035 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 15.035 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.035 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.035 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.035 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.035 * [backup-simplify]: Simplify 0.5 into 0.5 15.035 * [taylor]: Taking taylor expansion of phi1 in phi1 15.035 * [backup-simplify]: Simplify 0 into 0 15.035 * [backup-simplify]: Simplify 1 into 1 15.036 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.037 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.037 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 15.038 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.038 * [backup-simplify]: Simplify lambda2 into lambda2 15.038 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.038 * [backup-simplify]: Simplify lambda1 into lambda1 15.038 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.038 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 15.038 * [backup-simplify]: Simplify (* 0 0) into 0 15.039 * [backup-simplify]: Simplify (* 1 0) into 0 15.039 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 15.039 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 15.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.042 * [backup-simplify]: Simplify (+ (* 0 (pow lambda1 2)) (* 0.5 0)) into 0 15.043 * [backup-simplify]: Simplify (+ 0) into 0 15.043 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 15.044 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 15.045 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (+ (* 0 1) (* 0 0))) into 0 15.046 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 15.046 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.047 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda1 2)) (* 0 0))) into (* 0.5 (pow lambda1 2)) 15.050 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 15.051 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda1 2)) 15.052 * [backup-simplify]: Simplify (* 1 1) into 1 15.052 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.052 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 15.052 * [backup-simplify]: Simplify (* 1 1) into 1 15.053 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.053 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 15.053 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 15.053 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 15.053 * [backup-simplify]: Simplify (* 1 1) into 1 15.054 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.054 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 15.054 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 15.054 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 15.054 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 15.055 * [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))))) 15.055 * [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 15.055 * [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 15.055 * [taylor]: Taking taylor expansion of 0.25 in phi1 15.055 * [backup-simplify]: Simplify 0.25 into 0.25 15.055 * [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 15.055 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) in phi1 15.055 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.055 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.055 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.055 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.055 * [backup-simplify]: Simplify 0.5 into 0.5 15.055 * [taylor]: Taking taylor expansion of phi1 in phi1 15.055 * [backup-simplify]: Simplify 0 into 0 15.055 * [backup-simplify]: Simplify 1 into 1 15.056 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.057 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.057 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4)) in phi1 15.057 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 15.057 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 15.057 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.057 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.058 * [backup-simplify]: Simplify 0.5 into 0.5 15.058 * [taylor]: Taking taylor expansion of phi1 in phi1 15.058 * [backup-simplify]: Simplify 0 into 0 15.058 * [backup-simplify]: Simplify 1 into 1 15.058 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.059 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.062 * [taylor]: Taking taylor expansion of (pow lambda2 4) in phi1 15.062 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.062 * [backup-simplify]: Simplify lambda2 into lambda2 15.062 * [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 15.062 * [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 15.062 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 15.062 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.062 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.062 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.062 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.062 * [backup-simplify]: Simplify 0.5 into 0.5 15.062 * [taylor]: Taking taylor expansion of phi1 in phi1 15.062 * [backup-simplify]: Simplify 0 into 0 15.062 * [backup-simplify]: Simplify 1 into 1 15.063 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.064 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.064 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.064 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.064 * [backup-simplify]: Simplify lambda2 into lambda2 15.065 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 15.065 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 15.065 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.065 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.065 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.065 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.065 * [backup-simplify]: Simplify 0.5 into 0.5 15.065 * [taylor]: Taking taylor expansion of phi1 in phi1 15.065 * [backup-simplify]: Simplify 0 into 0 15.065 * [backup-simplify]: Simplify 1 into 1 15.065 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.067 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.067 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.067 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.067 * [backup-simplify]: Simplify lambda1 into lambda1 15.067 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.067 * [taylor]: Taking taylor expansion of phi1 in phi1 15.067 * [backup-simplify]: Simplify 0 into 0 15.067 * [backup-simplify]: Simplify 1 into 1 15.067 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 15.067 * [taylor]: Taking taylor expansion of 2 in phi1 15.067 * [backup-simplify]: Simplify 2 into 2 15.067 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 15.067 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.067 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.067 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.067 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.068 * [backup-simplify]: Simplify 0.5 into 0.5 15.068 * [taylor]: Taking taylor expansion of phi1 in phi1 15.068 * [backup-simplify]: Simplify 0 into 0 15.068 * [backup-simplify]: Simplify 1 into 1 15.068 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.069 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.069 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 15.070 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.070 * [backup-simplify]: Simplify lambda2 into lambda2 15.070 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.070 * [backup-simplify]: Simplify lambda1 into lambda1 15.070 * [backup-simplify]: Simplify (* 1 1) into 1 15.070 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 15.070 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.071 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow lambda2 2)) into (pow lambda2 4) 15.071 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 4)) into (* 0.25 (pow lambda2 4)) 15.071 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda2 4))) into (* 0.25 (pow lambda2 4)) 15.071 * [backup-simplify]: Simplify (* 1 1) into 1 15.072 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.072 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 15.072 * [backup-simplify]: Simplify (* 1 1) into 1 15.072 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.072 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 15.072 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 15.073 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 15.073 * [backup-simplify]: Simplify (* 1 1) into 1 15.073 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.073 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 15.073 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 15.073 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 15.074 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 15.074 * [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))))) 15.074 * [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 15.074 * [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 15.074 * [taylor]: Taking taylor expansion of 1.0 in phi1 15.074 * [backup-simplify]: Simplify 1.0 into 1.0 15.074 * [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 15.075 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) in phi1 15.075 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.075 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.075 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.075 * [backup-simplify]: Simplify 0.5 into 0.5 15.075 * [taylor]: Taking taylor expansion of phi1 in phi1 15.075 * [backup-simplify]: Simplify 0 into 0 15.075 * [backup-simplify]: Simplify 1 into 1 15.075 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.077 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.077 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1)) in phi1 15.077 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 15.077 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.077 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.077 * [backup-simplify]: Simplify 0.5 into 0.5 15.077 * [taylor]: Taking taylor expansion of phi1 in phi1 15.077 * [backup-simplify]: Simplify 0 into 0 15.077 * [backup-simplify]: Simplify 1 into 1 15.077 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.079 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.079 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 15.079 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.079 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.079 * [backup-simplify]: Simplify lambda2 into lambda2 15.079 * [taylor]: Taking taylor expansion of phi1 in phi1 15.079 * [backup-simplify]: Simplify 0 into 0 15.079 * [backup-simplify]: Simplify 1 into 1 15.079 * [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 15.079 * [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 15.079 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 15.079 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.079 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.079 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.079 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.079 * [backup-simplify]: Simplify 0.5 into 0.5 15.079 * [taylor]: Taking taylor expansion of phi1 in phi1 15.079 * [backup-simplify]: Simplify 0 into 0 15.079 * [backup-simplify]: Simplify 1 into 1 15.080 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.081 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.081 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.081 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.081 * [backup-simplify]: Simplify lambda2 into lambda2 15.081 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 15.081 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 15.081 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.082 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.082 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.082 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.082 * [backup-simplify]: Simplify 0.5 into 0.5 15.082 * [taylor]: Taking taylor expansion of phi1 in phi1 15.082 * [backup-simplify]: Simplify 0 into 0 15.082 * [backup-simplify]: Simplify 1 into 1 15.082 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.084 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.084 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.084 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.084 * [backup-simplify]: Simplify lambda1 into lambda1 15.084 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.084 * [taylor]: Taking taylor expansion of phi1 in phi1 15.084 * [backup-simplify]: Simplify 0 into 0 15.084 * [backup-simplify]: Simplify 1 into 1 15.084 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 15.084 * [taylor]: Taking taylor expansion of 2 in phi1 15.084 * [backup-simplify]: Simplify 2 into 2 15.084 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 15.084 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.084 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.084 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.084 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.084 * [backup-simplify]: Simplify 0.5 into 0.5 15.084 * [taylor]: Taking taylor expansion of phi1 in phi1 15.084 * [backup-simplify]: Simplify 0 into 0 15.084 * [backup-simplify]: Simplify 1 into 1 15.085 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.086 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.086 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 15.086 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.087 * [backup-simplify]: Simplify lambda2 into lambda2 15.087 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.087 * [backup-simplify]: Simplify lambda1 into lambda1 15.087 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.087 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 15.087 * [backup-simplify]: Simplify (* 0 0) into 0 15.088 * [backup-simplify]: Simplify (* 1 0) into 0 15.088 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.088 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 15.091 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.091 * [backup-simplify]: Simplify (+ (* 0 (pow lambda2 2)) (* 0.5 0)) into 0 15.092 * [backup-simplify]: Simplify (+ 0) into 0 15.092 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 15.093 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 15.094 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 1) (* 0 0))) into 0 15.094 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 15.095 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.096 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda2 2)) (* 0 0))) into (* 0.5 (pow lambda2 2)) 15.099 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 15.100 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda2 2)) 15.101 * [backup-simplify]: Simplify (* 1 1) into 1 15.101 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.101 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 15.101 * [backup-simplify]: Simplify (* 1 1) into 1 15.101 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.101 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 15.102 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 15.102 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 15.102 * [backup-simplify]: Simplify (* 1 1) into 1 15.102 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.102 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 15.102 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 15.103 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 15.103 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 15.103 * [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))))) 15.103 * [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 15.104 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 15.104 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.104 * [backup-simplify]: Simplify 0.5 into 0.5 15.104 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 15.104 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 15.104 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 15.104 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.104 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.104 * [backup-simplify]: Simplify 0.5 into 0.5 15.104 * [taylor]: Taking taylor expansion of phi1 in phi1 15.104 * [backup-simplify]: Simplify 0 into 0 15.104 * [backup-simplify]: Simplify 1 into 1 15.104 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.106 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.108 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.108 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 15.108 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.108 * [backup-simplify]: Simplify lambda2 into lambda2 15.108 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.108 * [backup-simplify]: Simplify lambda1 into lambda1 15.108 * [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 15.108 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 15.108 * [taylor]: Taking taylor expansion of 0.25 in phi1 15.108 * [backup-simplify]: Simplify 0.25 into 0.25 15.108 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 15.108 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.108 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.108 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.108 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.109 * [backup-simplify]: Simplify 0.5 into 0.5 15.109 * [taylor]: Taking taylor expansion of phi1 in phi1 15.109 * [backup-simplify]: Simplify 0 into 0 15.109 * [backup-simplify]: Simplify 1 into 1 15.109 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.110 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.110 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.110 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.110 * [backup-simplify]: Simplify lambda1 into lambda1 15.110 * [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 15.111 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.111 * [taylor]: Taking taylor expansion of phi1 in phi1 15.111 * [backup-simplify]: Simplify 0 into 0 15.111 * [backup-simplify]: Simplify 1 into 1 15.111 * [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 15.111 * [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 15.111 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 15.111 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.111 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.111 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.111 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.111 * [backup-simplify]: Simplify 0.5 into 0.5 15.111 * [taylor]: Taking taylor expansion of phi1 in phi1 15.111 * [backup-simplify]: Simplify 0 into 0 15.111 * [backup-simplify]: Simplify 1 into 1 15.111 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.113 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.113 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.113 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.113 * [backup-simplify]: Simplify lambda2 into lambda2 15.113 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 15.113 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 15.113 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.113 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.113 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.113 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.113 * [backup-simplify]: Simplify 0.5 into 0.5 15.113 * [taylor]: Taking taylor expansion of phi1 in phi1 15.113 * [backup-simplify]: Simplify 0 into 0 15.113 * [backup-simplify]: Simplify 1 into 1 15.113 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.115 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.115 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.115 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.115 * [backup-simplify]: Simplify lambda1 into lambda1 15.115 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.115 * [taylor]: Taking taylor expansion of phi1 in phi1 15.115 * [backup-simplify]: Simplify 0 into 0 15.115 * [backup-simplify]: Simplify 1 into 1 15.115 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 15.115 * [taylor]: Taking taylor expansion of 2 in phi1 15.115 * [backup-simplify]: Simplify 2 into 2 15.115 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 15.115 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.115 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.115 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.115 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.115 * [backup-simplify]: Simplify 0.5 into 0.5 15.115 * [taylor]: Taking taylor expansion of phi1 in phi1 15.115 * [backup-simplify]: Simplify 0 into 0 15.115 * [backup-simplify]: Simplify 1 into 1 15.116 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.117 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.117 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 15.117 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.117 * [backup-simplify]: Simplify lambda2 into lambda2 15.117 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.117 * [backup-simplify]: Simplify lambda1 into lambda1 15.118 * [backup-simplify]: Simplify (* 1 1) into 1 15.118 * [backup-simplify]: Simplify (* 1 1) into 1 15.118 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.118 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 15.119 * [backup-simplify]: Simplify (* 1 1) into 1 15.119 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.119 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 15.119 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 15.119 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 15.120 * [backup-simplify]: Simplify (* 1 1) into 1 15.120 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.120 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 15.120 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 15.120 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 15.120 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 15.121 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 15.121 * [backup-simplify]: Simplify (* 1 1) into 1 15.121 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.121 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 15.122 * [backup-simplify]: Simplify (* 0.5 (* lambda2 lambda1)) into (* 0.5 (* lambda2 lambda1)) 15.122 * [backup-simplify]: Simplify (+ 0 1) into 1 15.122 * [backup-simplify]: Simplify (+ 0 1) into 1 15.123 * [backup-simplify]: Simplify (+ 0 1) into 1 15.123 * [backup-simplify]: Simplify (+ 0 1) into 1 15.123 * [backup-simplify]: Simplify (+ (* 0.5 (* lambda2 lambda1)) 1) into (+ 1 (* 0.5 (* lambda2 lambda1))) 15.124 * [backup-simplify]: Simplify (+ 0 (+ 1 (* 0.5 (* lambda2 lambda1)))) into (+ (* 0.5 (* lambda2 lambda1)) 1) 15.124 * [backup-simplify]: Simplify (* 1 1) into 1 15.124 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.124 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 15.124 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 15.125 * [backup-simplify]: Simplify (* 1 1) into 1 15.125 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.125 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 15.125 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 15.125 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2)) 15.125 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 15.126 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 15.126 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 15.126 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 15.126 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 15.126 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 15.127 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda2 2)) (* 0.25 (pow lambda1 2))) into (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) 15.127 * [backup-simplify]: Simplify (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) into (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 15.128 * [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)))) 15.129 * [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)))))) 15.129 * [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))))))) 15.130 * [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 lambda1 15.130 * [taylor]: Taking taylor expansion of 1/2 in lambda1 15.130 * [backup-simplify]: Simplify 1/2 into 1/2 15.130 * [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 lambda1 15.130 * [taylor]: Taking taylor expansion of (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda1 15.130 * [taylor]: Taking taylor expansion of (+ (* 0.5 (* lambda2 lambda1)) 1) in lambda1 15.130 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda1 15.130 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.130 * [backup-simplify]: Simplify 0.5 into 0.5 15.130 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.130 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.130 * [backup-simplify]: Simplify lambda2 into lambda2 15.130 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.130 * [backup-simplify]: Simplify 0 into 0 15.130 * [backup-simplify]: Simplify 1 into 1 15.130 * [taylor]: Taking taylor expansion of 1 in lambda1 15.130 * [backup-simplify]: Simplify 1 into 1 15.130 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda1 15.130 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 15.130 * [taylor]: Taking taylor expansion of 0.25 in lambda1 15.130 * [backup-simplify]: Simplify 0.25 into 0.25 15.130 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.130 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.130 * [backup-simplify]: Simplify 0 into 0 15.130 * [backup-simplify]: Simplify 1 into 1 15.130 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda1 15.130 * [taylor]: Taking taylor expansion of 0.25 in lambda1 15.130 * [backup-simplify]: Simplify 0.25 into 0.25 15.130 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.130 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.130 * [backup-simplify]: Simplify lambda2 into lambda2 15.130 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 15.130 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 15.131 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 15.131 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 15.131 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.131 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.131 * [backup-simplify]: Simplify 0 into 0 15.131 * [backup-simplify]: Simplify 1 into 1 15.131 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.131 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.131 * [backup-simplify]: Simplify lambda2 into lambda2 15.131 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 15.131 * [taylor]: Taking taylor expansion of 2 in lambda1 15.131 * [backup-simplify]: Simplify 2 into 2 15.131 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.131 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.131 * [backup-simplify]: Simplify lambda2 into lambda2 15.131 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.131 * [backup-simplify]: Simplify 0 into 0 15.131 * [backup-simplify]: Simplify 1 into 1 15.131 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.131 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 15.131 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.132 * [backup-simplify]: Simplify (* 2 0) into 0 15.132 * [backup-simplify]: Simplify (- 0) into 0 15.132 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 15.133 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 15.133 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 15.133 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.138 * [backup-simplify]: Simplify (+ 0 0) into 0 15.139 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 15.140 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 15.140 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 15.140 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 15.140 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 15.141 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 15.141 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.141 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.142 * [backup-simplify]: Simplify (+ 0 1) into 1 15.142 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.142 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 15.142 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda2 2))) into (* 0.25 (pow lambda2 2)) 15.142 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda2 2))) into (- (* 0.25 (pow lambda2 2))) 15.143 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda2 2)))) into (- 1 (* 0.25 (pow lambda2 2))) 15.143 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda2 2))) (/ 1 lambda2)) into (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) 15.143 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) 15.143 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) in lambda2 15.143 * [taylor]: Taking taylor expansion of 1/2 in lambda2 15.143 * [backup-simplify]: Simplify 1/2 into 1/2 15.143 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) in lambda2 15.143 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda2 2))) in lambda2 15.143 * [taylor]: Taking taylor expansion of 1 in lambda2 15.143 * [backup-simplify]: Simplify 1 into 1 15.143 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 15.143 * [taylor]: Taking taylor expansion of 0.25 in lambda2 15.143 * [backup-simplify]: Simplify 0.25 into 0.25 15.143 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.144 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.144 * [backup-simplify]: Simplify 0 into 0 15.144 * [backup-simplify]: Simplify 1 into 1 15.144 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.144 * [backup-simplify]: Simplify 0 into 0 15.144 * [backup-simplify]: Simplify 1 into 1 15.144 * [backup-simplify]: Simplify (+ 1 0) into 1 15.144 * [backup-simplify]: Simplify (/ 1 1) into 1 15.145 * [backup-simplify]: Simplify (+ 0 0) into 0 15.146 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 15.146 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 15.146 * [backup-simplify]: Simplify 0 into 0 15.146 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 15.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.150 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* lambda2 lambda1))) into (* 0.5 (* lambda2 lambda1)) 15.150 * [backup-simplify]: Simplify (+ 0) into 0 15.151 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 0.5 (* lambda2 lambda1)) 15.151 * [backup-simplify]: Simplify (+ (* 2.0 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 1.0 (* lambda2 lambda1)) 15.151 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 15.154 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.154 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 15.154 * [backup-simplify]: Simplify (+ 0) into 0 15.155 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 15.156 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 15.156 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.159 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 15.159 * [backup-simplify]: Simplify (+ 0) into 0 15.160 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 15.160 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 15.161 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2 15.161 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda2 2)) 2) into (+ (* 0.5 (pow lambda2 2)) 2) 15.162 * [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)) 15.162 * [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))) 15.163 * [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))))) 15.164 * [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)))))) 15.168 * [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)))))))) 15.168 * [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 lambda1 15.168 * [taylor]: Taking taylor expansion of (* 0.5 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (* lambda2 lambda1))) in lambda1 15.168 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.168 * [backup-simplify]: Simplify 0.5 into 0.5 15.168 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (* lambda2 lambda1)) in lambda1 15.168 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 15.168 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 15.168 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 15.168 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 15.168 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.168 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.168 * [backup-simplify]: Simplify 0 into 0 15.168 * [backup-simplify]: Simplify 1 into 1 15.168 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.168 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.168 * [backup-simplify]: Simplify lambda2 into lambda2 15.168 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 15.168 * [taylor]: Taking taylor expansion of 2 in lambda1 15.169 * [backup-simplify]: Simplify 2 into 2 15.169 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.169 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.169 * [backup-simplify]: Simplify lambda2 into lambda2 15.169 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.169 * [backup-simplify]: Simplify 0 into 0 15.169 * [backup-simplify]: Simplify 1 into 1 15.169 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.169 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 15.169 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.169 * [backup-simplify]: Simplify (* 2 0) into 0 15.170 * [backup-simplify]: Simplify (- 0) into 0 15.170 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 15.170 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 15.170 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 15.170 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.171 * [backup-simplify]: Simplify (+ 0 0) into 0 15.171 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 15.172 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 15.172 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 15.172 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 15.172 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 15.172 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 15.173 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.173 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.173 * [backup-simplify]: Simplify lambda2 into lambda2 15.173 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.173 * [backup-simplify]: Simplify 0 into 0 15.173 * [backup-simplify]: Simplify 1 into 1 15.173 * [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 lambda1 15.173 * [taylor]: Taking taylor expansion of (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2))) in lambda1 15.173 * [taylor]: Taking taylor expansion of 0.25 in lambda1 15.173 * [backup-simplify]: Simplify 0.25 into 0.25 15.173 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2)) in lambda1 15.173 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 15.173 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 15.173 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 15.173 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 15.173 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.173 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.173 * [backup-simplify]: Simplify 0 into 0 15.173 * [backup-simplify]: Simplify 1 into 1 15.173 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.173 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.173 * [backup-simplify]: Simplify lambda2 into lambda2 15.173 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 15.173 * [taylor]: Taking taylor expansion of 2 in lambda1 15.173 * [backup-simplify]: Simplify 2 into 2 15.173 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.173 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.173 * [backup-simplify]: Simplify lambda2 into lambda2 15.173 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.173 * [backup-simplify]: Simplify 0 into 0 15.173 * [backup-simplify]: Simplify 1 into 1 15.173 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.174 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 15.174 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.174 * [backup-simplify]: Simplify (* 2 0) into 0 15.174 * [backup-simplify]: Simplify (- 0) into 0 15.175 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 15.175 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 15.175 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 15.175 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.175 * [backup-simplify]: Simplify (+ 0 0) into 0 15.176 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 15.176 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 15.176 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 15.176 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 15.177 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 15.177 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 15.177 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.177 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.177 * [backup-simplify]: Simplify lambda2 into lambda2 15.177 * [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 lambda1 15.177 * [taylor]: Taking taylor expansion of (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2))) in lambda1 15.177 * [taylor]: Taking taylor expansion of 0.25 in lambda1 15.177 * [backup-simplify]: Simplify 0.25 into 0.25 15.177 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2)) in lambda1 15.177 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 15.177 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 15.177 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 15.177 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 15.178 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.178 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.178 * [backup-simplify]: Simplify 0 into 0 15.178 * [backup-simplify]: Simplify 1 into 1 15.178 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.178 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.178 * [backup-simplify]: Simplify lambda2 into lambda2 15.178 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 15.178 * [taylor]: Taking taylor expansion of 2 in lambda1 15.178 * [backup-simplify]: Simplify 2 into 2 15.178 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.178 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.178 * [backup-simplify]: Simplify lambda2 into lambda2 15.178 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.178 * [backup-simplify]: Simplify 0 into 0 15.178 * [backup-simplify]: Simplify 1 into 1 15.178 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.178 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 15.178 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.179 * [backup-simplify]: Simplify (* 2 0) into 0 15.179 * [backup-simplify]: Simplify (- 0) into 0 15.179 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 15.179 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 15.179 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 15.180 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.180 * [backup-simplify]: Simplify (+ 0 0) into 0 15.180 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 15.181 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 15.181 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 15.181 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 15.181 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 15.182 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 15.182 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.182 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.182 * [backup-simplify]: Simplify 0 into 0 15.182 * [backup-simplify]: Simplify 1 into 1 15.182 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 15.182 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 15.182 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 15.182 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 15.182 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.182 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.182 * [backup-simplify]: Simplify 0 into 0 15.182 * [backup-simplify]: Simplify 1 into 1 15.182 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.182 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.182 * [backup-simplify]: Simplify lambda2 into lambda2 15.182 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 15.182 * [taylor]: Taking taylor expansion of 2 in lambda1 15.182 * [backup-simplify]: Simplify 2 into 2 15.182 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.182 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.182 * [backup-simplify]: Simplify lambda2 into lambda2 15.182 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.182 * [backup-simplify]: Simplify 0 into 0 15.182 * [backup-simplify]: Simplify 1 into 1 15.182 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.182 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 15.183 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.183 * [backup-simplify]: Simplify (* 2 0) into 0 15.183 * [backup-simplify]: Simplify (- 0) into 0 15.183 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 15.184 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 15.184 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 15.184 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.184 * [backup-simplify]: Simplify (+ 0 0) into 0 15.185 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 15.185 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 15.185 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 15.185 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 15.186 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 15.186 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 15.186 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.186 * [backup-simplify]: Simplify (* (/ 1 lambda2) 0) into 0 15.186 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.187 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.187 * [backup-simplify]: Simplify (* (/ 1 lambda2) (pow lambda2 2)) into lambda2 15.187 * [backup-simplify]: Simplify (* 0.25 lambda2) into (* 0.25 lambda2) 15.187 * [backup-simplify]: Simplify (+ 0 (/ 1 lambda2)) into (/ 1 lambda2) 15.187 * [backup-simplify]: Simplify (+ (* 0.25 lambda2) (/ 1 lambda2)) into (+ (* 0.25 lambda2) (/ 1 lambda2)) 15.187 * [backup-simplify]: Simplify (- (+ (* 0.25 lambda2) (/ 1 lambda2))) into (- (+ (* 0.25 lambda2) (/ 1 lambda2))) 15.187 * [backup-simplify]: Simplify (+ 0 (- (+ (* 0.25 lambda2) (/ 1 lambda2)))) into (- (+ (* 0.25 lambda2) (/ 1 lambda2))) 15.187 * [taylor]: Taking taylor expansion of (- (+ (* 0.25 lambda2) (/ 1 lambda2))) in lambda2 15.187 * [taylor]: Taking taylor expansion of (+ (* 0.25 lambda2) (/ 1 lambda2)) in lambda2 15.187 * [taylor]: Taking taylor expansion of (* 0.25 lambda2) in lambda2 15.187 * [taylor]: Taking taylor expansion of 0.25 in lambda2 15.187 * [backup-simplify]: Simplify 0.25 into 0.25 15.187 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.187 * [backup-simplify]: Simplify 0 into 0 15.188 * [backup-simplify]: Simplify 1 into 1 15.188 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 15.188 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.188 * [backup-simplify]: Simplify 0 into 0 15.188 * [backup-simplify]: Simplify 1 into 1 15.188 * [backup-simplify]: Simplify (/ 1 1) into 1 15.188 * [backup-simplify]: Simplify (* 0.25 0) into 0 15.189 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.189 * [backup-simplify]: Simplify (+ 0 0) into 0 15.190 * [backup-simplify]: Simplify (- 0) into 0 15.190 * [backup-simplify]: Simplify 0 into 0 15.190 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 15.193 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 15.197 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 15.198 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda2 2)))) into (- (* 0.25 (pow lambda2 2))) 15.198 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 15.201 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 15.205 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 15.206 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 15.207 * [backup-simplify]: Simplify (* 1 1) into 1 15.207 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda1 2))) 1) into (- 1 (* 0.25 (pow lambda1 2))) 15.207 * [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)))) 15.208 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 15.209 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 15.212 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 15.212 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* lambda2 lambda1)))) into (- (* 0.25 (* lambda2 lambda1))) 15.213 * [backup-simplify]: Simplify (+ (* 2 (- (* 0.25 (* lambda2 lambda1)))) (+ (* 0 0) (* 0 (* lambda2 lambda1)))) into (- (* 0.5 (* lambda2 lambda1))) 15.213 * [backup-simplify]: Simplify (- (- (* 0.5 (* lambda2 lambda1)))) into (* 0.5 (* lambda2 lambda1)) 15.213 * [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)))) 15.214 * [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))))))) 15.214 * [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 lambda1 15.215 * [taylor]: Taking taylor expansion of 1/2 in lambda1 15.215 * [backup-simplify]: Simplify 1/2 into 1/2 15.215 * [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 lambda1 15.215 * [taylor]: Taking taylor expansion of (- (+ 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda1 15.215 * [taylor]: Taking taylor expansion of (+ 1 (* 0.5 (* lambda2 lambda1))) in lambda1 15.215 * [taylor]: Taking taylor expansion of 1 in lambda1 15.215 * [backup-simplify]: Simplify 1 into 1 15.215 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda1 15.215 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.215 * [backup-simplify]: Simplify 0.5 into 0.5 15.215 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.215 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.215 * [backup-simplify]: Simplify lambda2 into lambda2 15.215 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.215 * [backup-simplify]: Simplify 0 into 0 15.215 * [backup-simplify]: Simplify 1 into 1 15.215 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda1 15.215 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 15.215 * [taylor]: Taking taylor expansion of 0.25 in lambda1 15.215 * [backup-simplify]: Simplify 0.25 into 0.25 15.215 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.215 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.215 * [backup-simplify]: Simplify 0 into 0 15.215 * [backup-simplify]: Simplify 1 into 1 15.215 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda1 15.215 * [taylor]: Taking taylor expansion of 0.25 in lambda1 15.215 * [backup-simplify]: Simplify 0.25 into 0.25 15.215 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.215 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.215 * [backup-simplify]: Simplify lambda2 into lambda2 15.215 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 15.215 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 15.215 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 15.215 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 15.215 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.215 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.215 * [backup-simplify]: Simplify 0 into 0 15.215 * [backup-simplify]: Simplify 1 into 1 15.215 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.215 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.215 * [backup-simplify]: Simplify lambda2 into lambda2 15.215 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 15.215 * [taylor]: Taking taylor expansion of 2 in lambda1 15.215 * [backup-simplify]: Simplify 2 into 2 15.215 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.215 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.215 * [backup-simplify]: Simplify lambda2 into lambda2 15.215 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.215 * [backup-simplify]: Simplify 0 into 0 15.215 * [backup-simplify]: Simplify 1 into 1 15.215 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.216 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 15.216 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.216 * [backup-simplify]: Simplify (* 2 0) into 0 15.216 * [backup-simplify]: Simplify (- 0) into 0 15.216 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 15.216 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 15.216 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 15.217 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.217 * [backup-simplify]: Simplify (+ 0 0) into 0 15.217 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 15.217 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 15.218 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 15.218 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 15.218 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 15.218 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 15.218 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.218 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.219 * [backup-simplify]: Simplify (+ 1 0) into 1 15.219 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.219 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 15.219 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda2 2))) into (* 0.25 (pow lambda2 2)) 15.219 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda2 2))) into (- (* 0.25 (pow lambda2 2))) 15.219 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda2 2)))) into (- 1 (* 0.25 (pow lambda2 2))) 15.219 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda2 2))) (/ 1 lambda2)) into (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) 15.219 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) 15.219 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) in lambda2 15.220 * [taylor]: Taking taylor expansion of 1/2 in lambda2 15.220 * [backup-simplify]: Simplify 1/2 into 1/2 15.220 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) in lambda2 15.220 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda2 2))) in lambda2 15.220 * [taylor]: Taking taylor expansion of 1 in lambda2 15.220 * [backup-simplify]: Simplify 1 into 1 15.220 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 15.220 * [taylor]: Taking taylor expansion of 0.25 in lambda2 15.220 * [backup-simplify]: Simplify 0.25 into 0.25 15.220 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.220 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.220 * [backup-simplify]: Simplify 0 into 0 15.220 * [backup-simplify]: Simplify 1 into 1 15.220 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.220 * [backup-simplify]: Simplify 0 into 0 15.220 * [backup-simplify]: Simplify 1 into 1 15.220 * [backup-simplify]: Simplify (+ 1 0) into 1 15.220 * [backup-simplify]: Simplify (/ 1 1) into 1 15.221 * [backup-simplify]: Simplify (+ 0 0) into 0 15.221 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 15.221 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 15.221 * [backup-simplify]: Simplify 0 into 0 15.221 * [taylor]: Taking taylor expansion of 0 in lambda2 15.221 * [backup-simplify]: Simplify 0 into 0 15.221 * [backup-simplify]: Simplify 0 into 0 15.221 * [taylor]: Taking taylor expansion of 0 in lambda2 15.222 * [backup-simplify]: Simplify 0 into 0 15.222 * [backup-simplify]: Simplify 0 into 0 15.222 * [backup-simplify]: Simplify (* 1 1) into 1 15.222 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 15.222 * [backup-simplify]: Simplify (+ 1 0) into 1 15.223 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 15.223 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 lambda2) (* 0 0))) into 0 15.223 * [backup-simplify]: Simplify (- 0) into 0 15.224 * [backup-simplify]: Simplify (+ 1 0) into 1 15.224 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 lambda2)) into 0 15.224 * [taylor]: Taking taylor expansion of 0 in lambda2 15.224 * [backup-simplify]: Simplify 0 into 0 15.224 * [backup-simplify]: Simplify 0 into 0 15.225 * [backup-simplify]: Simplify (+ (* 1 (* lambda2 (* 1 (* 1 1)))) (* -1 (* 1 (* lambda1 (* 1 1))))) into (- lambda2 lambda1) 15.227 * [backup-simplify]: Simplify (sqrt (+ (- (* (pow (- (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5))) (* (sin (* 0.5 (/ 1 phi2))) (sin (* 0.5 (/ 1 phi1))))) 2) (+ (pow (/ 1 lambda1) 2) (pow (/ 1 lambda2) 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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) 15.227 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in (phi2 phi1 lambda1 lambda2) around 0 15.227 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in lambda2 15.227 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda2 15.227 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in lambda2 15.227 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 15.227 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.227 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.227 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.227 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.227 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.227 * [backup-simplify]: Simplify 0.5 into 0.5 15.227 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.227 * [backup-simplify]: Simplify phi1 into phi1 15.227 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.227 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.227 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.227 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.228 * [backup-simplify]: Simplify (- 0) into 0 15.228 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.228 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.228 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.228 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.228 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.228 * [backup-simplify]: Simplify 0.5 into 0.5 15.228 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.228 * [backup-simplify]: Simplify phi2 into phi2 15.228 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.228 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.228 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.228 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.228 * [backup-simplify]: Simplify (- 0) into 0 15.228 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.228 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.228 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.228 * [backup-simplify]: Simplify 0 into 0 15.228 * [backup-simplify]: Simplify 1 into 1 15.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.229 * [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)) 15.229 * [backup-simplify]: Simplify (* 1 1) into 1 15.229 * [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)) 15.229 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in lambda2 15.229 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2 15.229 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.229 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.230 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.230 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.230 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.230 * [backup-simplify]: Simplify 0.5 into 0.5 15.230 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.230 * [backup-simplify]: Simplify phi1 into phi1 15.230 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.230 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.230 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.230 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.230 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.230 * [backup-simplify]: Simplify (- 0) into 0 15.230 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.230 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.230 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.230 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.230 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.230 * [backup-simplify]: Simplify 0.5 into 0.5 15.230 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.230 * [backup-simplify]: Simplify phi2 into phi2 15.230 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.230 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.230 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.231 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.231 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.231 * [backup-simplify]: Simplify (- 0) into 0 15.231 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.231 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 15.231 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.231 * [backup-simplify]: Simplify lambda1 into lambda1 15.231 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.231 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.231 * [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)) 15.231 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.232 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 15.232 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda2 15.232 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 15.232 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.232 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.232 * [backup-simplify]: Simplify phi2 into phi2 15.232 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.232 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.232 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2 15.232 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2 15.232 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.232 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.232 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.232 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.232 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.232 * [backup-simplify]: Simplify 0.5 into 0.5 15.232 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.232 * [backup-simplify]: Simplify phi1 into phi1 15.232 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.232 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.232 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.232 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.232 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.232 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.233 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 15.233 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.233 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.233 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.233 * [backup-simplify]: Simplify 0.5 into 0.5 15.233 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.233 * [backup-simplify]: Simplify phi2 into phi2 15.233 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.233 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.233 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.233 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.233 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.233 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.233 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 15.233 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.233 * [backup-simplify]: Simplify lambda1 into lambda1 15.233 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.233 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.233 * [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)) 15.233 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.234 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 15.234 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2 15.234 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 15.234 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.234 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.234 * [backup-simplify]: Simplify phi1 into phi1 15.234 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.234 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.234 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 15.234 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.234 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.234 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.234 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.234 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.234 * [backup-simplify]: Simplify 0.5 into 0.5 15.234 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.234 * [backup-simplify]: Simplify phi1 into phi1 15.234 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.234 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.234 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.234 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.234 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.234 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 15.235 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.235 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.235 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.235 * [backup-simplify]: Simplify 0.5 into 0.5 15.235 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.235 * [backup-simplify]: Simplify phi2 into phi2 15.235 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.235 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.235 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.235 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.235 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.235 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.235 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.235 * [backup-simplify]: Simplify 0 into 0 15.235 * [backup-simplify]: Simplify 1 into 1 15.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.235 * [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)) 15.236 * [backup-simplify]: Simplify (* 1 1) into 1 15.236 * [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)) 15.236 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda2 15.236 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 15.237 * [taylor]: Taking taylor expansion of 2 in lambda2 15.237 * [backup-simplify]: Simplify 2 into 2 15.237 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 15.237 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 15.237 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.237 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.237 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.237 * [backup-simplify]: Simplify 0.5 into 0.5 15.237 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.237 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.237 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.237 * [backup-simplify]: Simplify phi1 into phi1 15.237 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.237 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.237 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.237 * [backup-simplify]: Simplify phi2 into phi2 15.237 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.237 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.237 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.238 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.238 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.238 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.238 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.239 * [backup-simplify]: Simplify (- 0) into 0 15.239 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.239 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 15.239 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.239 * [backup-simplify]: Simplify 0 into 0 15.239 * [backup-simplify]: Simplify 1 into 1 15.239 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.239 * [backup-simplify]: Simplify lambda1 into lambda1 15.240 * [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) 15.240 * [backup-simplify]: Simplify (* 0 lambda1) into 0 15.240 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 15.241 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 15.241 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda2 15.241 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 15.241 * [taylor]: Taking taylor expansion of 2 in lambda2 15.241 * [backup-simplify]: Simplify 2 into 2 15.241 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 15.241 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 15.241 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.241 * [backup-simplify]: Simplify phi2 into phi2 15.241 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.241 * [backup-simplify]: Simplify phi1 into phi1 15.241 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 15.241 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 15.241 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda2 15.241 * [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 15.241 * [taylor]: Taking taylor expansion of 2 in lambda2 15.241 * [backup-simplify]: Simplify 2 into 2 15.241 * [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 15.241 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 15.241 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.241 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.241 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.242 * [backup-simplify]: Simplify 0.5 into 0.5 15.242 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.242 * [backup-simplify]: Simplify phi1 into phi1 15.242 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.242 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.242 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.242 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 15.242 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.242 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.242 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.242 * [backup-simplify]: Simplify 0.5 into 0.5 15.242 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.242 * [backup-simplify]: Simplify phi1 into phi1 15.242 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.242 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.242 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.242 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 15.242 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.242 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.242 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.242 * [backup-simplify]: Simplify 0.5 into 0.5 15.242 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.242 * [backup-simplify]: Simplify phi2 into phi2 15.243 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.243 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.243 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.243 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.243 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.243 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.243 * [backup-simplify]: Simplify 0.5 into 0.5 15.243 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.243 * [backup-simplify]: Simplify phi2 into phi2 15.243 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.243 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.243 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.243 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.243 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.243 * [backup-simplify]: Simplify 0 into 0 15.243 * [backup-simplify]: Simplify 1 into 1 15.243 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.244 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.244 * [backup-simplify]: Simplify (- 0) into 0 15.244 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.244 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.245 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.245 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.245 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.245 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.245 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.245 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.245 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.246 * [backup-simplify]: Simplify (- 0) into 0 15.246 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.246 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.246 * [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)))) 15.246 * [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))))) 15.247 * [backup-simplify]: Simplify (* 1 1) into 1 15.247 * [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))))) 15.247 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda2 15.247 * [taylor]: Taking taylor expansion of 2 in lambda2 15.247 * [backup-simplify]: Simplify 2 into 2 15.247 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda2 15.247 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 15.247 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.248 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.248 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.248 * [backup-simplify]: Simplify 0.5 into 0.5 15.248 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.248 * [backup-simplify]: Simplify phi1 into phi1 15.248 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.248 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.248 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.248 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 15.248 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.248 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.248 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.248 * [backup-simplify]: Simplify 0.5 into 0.5 15.248 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.248 * [backup-simplify]: Simplify phi1 into phi1 15.248 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.248 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.248 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.248 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 15.248 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.248 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.248 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.248 * [backup-simplify]: Simplify 0.5 into 0.5 15.248 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.249 * [backup-simplify]: Simplify phi2 into phi2 15.249 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.249 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.249 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.249 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.249 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.249 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.249 * [backup-simplify]: Simplify 0.5 into 0.5 15.249 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.249 * [backup-simplify]: Simplify phi2 into phi2 15.249 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.249 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.249 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.249 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 15.249 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.249 * [backup-simplify]: Simplify lambda1 into lambda1 15.249 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.249 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.250 * [backup-simplify]: Simplify (- 0) into 0 15.250 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.250 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.250 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.250 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.250 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.251 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.251 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.251 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.251 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.251 * [backup-simplify]: Simplify (- 0) into 0 15.251 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.252 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.252 * [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)))) 15.252 * [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))))) 15.252 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.253 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 15.253 * [backup-simplify]: Simplify (+ 0 (* (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)) 15.254 * [backup-simplify]: Simplify (+ 0 (* (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)) 15.254 * [backup-simplify]: Simplify (+ 0 (* (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)) 15.254 * [backup-simplify]: Simplify (+ 0 (* (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)) 15.255 * [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))) 15.255 * [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)))))) 15.256 * [backup-simplify]: Simplify (+ (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 0) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 15.256 * [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)))))) 15.257 * [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)))))) 15.257 * [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))))))) 15.258 * [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))))))) 15.260 * [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)))))))) 15.261 * [backup-simplify]: Simplify (+ 0) into 0 15.261 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.261 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.262 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.263 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.263 * [backup-simplify]: Simplify (- 0) into 0 15.263 * [backup-simplify]: Simplify (+ 0 0) into 0 15.264 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.264 * [backup-simplify]: Simplify (+ 0) into 0 15.264 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.266 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.266 * [backup-simplify]: Simplify (- 0) into 0 15.266 * [backup-simplify]: Simplify (+ 0 0) into 0 15.267 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.267 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.268 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.269 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 15.269 * [backup-simplify]: Simplify (+ 0) into 0 15.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.270 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.271 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.271 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.272 * [backup-simplify]: Simplify (+ 0 0) into 0 15.272 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.272 * [backup-simplify]: Simplify (+ 0) into 0 15.273 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.273 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.274 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.274 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.274 * [backup-simplify]: Simplify (+ 0 0) into 0 15.275 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.275 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.276 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.277 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 15.277 * [backup-simplify]: Simplify (+ 0 0) into 0 15.278 * [backup-simplify]: Simplify (+ 0 0) into 0 15.278 * [backup-simplify]: Simplify (+ 0 0) into 0 15.278 * [backup-simplify]: Simplify (+ 0 0) into 0 15.279 * [backup-simplify]: Simplify (+ 0 0) into 0 15.279 * [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)) 15.279 * [backup-simplify]: Simplify (+ 0) into 0 15.280 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.280 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.281 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.281 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.282 * [backup-simplify]: Simplify (- 0) into 0 15.282 * [backup-simplify]: Simplify (+ 0 0) into 0 15.283 * [backup-simplify]: Simplify (+ 0) into 0 15.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.289 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.290 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.290 * [backup-simplify]: Simplify (+ 0 0) into 0 15.290 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.291 * [backup-simplify]: Simplify (+ 0) into 0 15.291 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.292 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.293 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.293 * [backup-simplify]: Simplify (+ 0 0) into 0 15.293 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.294 * [backup-simplify]: Simplify (+ 0) into 0 15.294 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.294 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.296 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.296 * [backup-simplify]: Simplify (- 0) into 0 15.296 * [backup-simplify]: Simplify (+ 0 0) into 0 15.297 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.297 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.299 * [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 15.299 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.300 * [backup-simplify]: Simplify (+ 0 0) into 0 15.300 * [backup-simplify]: Simplify (+ 0 0) into 0 15.301 * [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)) 15.301 * [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))) 15.301 * [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))) 15.303 * [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))) 15.304 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in lambda1 15.304 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda1 15.304 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in lambda1 15.304 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 15.304 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 15.304 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 15.304 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.304 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.304 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.304 * [backup-simplify]: Simplify 0.5 into 0.5 15.304 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.304 * [backup-simplify]: Simplify phi1 into phi1 15.304 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.304 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.304 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.304 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.304 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.305 * [backup-simplify]: Simplify (- 0) into 0 15.305 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.305 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 15.305 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.305 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.305 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.305 * [backup-simplify]: Simplify 0.5 into 0.5 15.305 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.305 * [backup-simplify]: Simplify phi2 into phi2 15.305 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.305 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.305 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.305 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.305 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.305 * [backup-simplify]: Simplify (- 0) into 0 15.305 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.305 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.305 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.305 * [backup-simplify]: Simplify lambda2 into lambda2 15.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.306 * [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)) 15.306 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.306 * [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)) 15.306 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in lambda1 15.306 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 15.306 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 15.306 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 15.306 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.306 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.306 * [backup-simplify]: Simplify 0.5 into 0.5 15.306 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.306 * [backup-simplify]: Simplify phi1 into phi1 15.306 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.306 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.307 * [backup-simplify]: Simplify (- 0) into 0 15.307 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.307 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 15.307 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.307 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.307 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.307 * [backup-simplify]: Simplify 0.5 into 0.5 15.307 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.307 * [backup-simplify]: Simplify phi2 into phi2 15.307 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.307 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.308 * [backup-simplify]: Simplify (- 0) into 0 15.308 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.308 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.308 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.308 * [backup-simplify]: Simplify 0 into 0 15.308 * [backup-simplify]: Simplify 1 into 1 15.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.308 * [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)) 15.308 * [backup-simplify]: Simplify (* 1 1) into 1 15.309 * [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)) 15.309 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1 15.309 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 15.309 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 15.309 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.309 * [backup-simplify]: Simplify phi2 into phi2 15.309 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.309 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.309 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 15.309 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 15.309 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 15.309 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 15.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.309 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.309 * [backup-simplify]: Simplify 0.5 into 0.5 15.309 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.309 * [backup-simplify]: Simplify phi1 into phi1 15.309 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.309 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.310 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.310 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 15.310 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.310 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.310 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.310 * [backup-simplify]: Simplify 0.5 into 0.5 15.310 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.310 * [backup-simplify]: Simplify phi2 into phi2 15.310 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.310 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.310 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.310 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.310 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.310 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.310 * [backup-simplify]: Simplify 0 into 0 15.310 * [backup-simplify]: Simplify 1 into 1 15.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.311 * [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)) 15.311 * [backup-simplify]: Simplify (* 1 1) into 1 15.311 * [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)) 15.311 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 15.311 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 15.311 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 15.311 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.311 * [backup-simplify]: Simplify phi1 into phi1 15.311 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.311 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.311 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 15.312 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 15.312 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 15.312 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.312 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.312 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.312 * [backup-simplify]: Simplify 0.5 into 0.5 15.312 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.312 * [backup-simplify]: Simplify phi1 into phi1 15.312 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.312 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.312 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.312 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.312 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.312 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 15.312 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.312 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.312 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.312 * [backup-simplify]: Simplify 0.5 into 0.5 15.312 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.312 * [backup-simplify]: Simplify phi2 into phi2 15.312 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.312 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.312 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.312 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.312 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.312 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.312 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.312 * [backup-simplify]: Simplify lambda2 into lambda2 15.313 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.313 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.313 * [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)) 15.313 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.313 * [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)) 15.313 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1 15.313 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 15.313 * [taylor]: Taking taylor expansion of 2 in lambda1 15.313 * [backup-simplify]: Simplify 2 into 2 15.313 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 15.313 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.313 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.313 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.313 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.313 * [backup-simplify]: Simplify 0.5 into 0.5 15.313 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.313 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.313 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.313 * [backup-simplify]: Simplify phi1 into phi1 15.313 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.314 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.314 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.314 * [backup-simplify]: Simplify phi2 into phi2 15.314 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.314 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.314 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.314 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.314 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.314 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.314 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.315 * [backup-simplify]: Simplify (- 0) into 0 15.315 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.315 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.315 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.315 * [backup-simplify]: Simplify lambda2 into lambda2 15.315 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.315 * [backup-simplify]: Simplify 0 into 0 15.315 * [backup-simplify]: Simplify 1 into 1 15.315 * [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) 15.315 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.315 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 15.316 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 15.316 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1 15.316 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 15.316 * [taylor]: Taking taylor expansion of 2 in lambda1 15.316 * [backup-simplify]: Simplify 2 into 2 15.316 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 15.316 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 15.316 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.316 * [backup-simplify]: Simplify phi2 into phi2 15.316 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.316 * [backup-simplify]: Simplify phi1 into phi1 15.316 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 15.316 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 15.316 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1 15.316 * [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 15.316 * [taylor]: Taking taylor expansion of 2 in lambda1 15.316 * [backup-simplify]: Simplify 2 into 2 15.316 * [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 15.316 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 15.316 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.316 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.316 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.316 * [backup-simplify]: Simplify 0.5 into 0.5 15.316 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.316 * [backup-simplify]: Simplify phi1 into phi1 15.316 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.316 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.316 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 15.316 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.316 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.316 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.316 * [backup-simplify]: Simplify 0.5 into 0.5 15.316 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.316 * [backup-simplify]: Simplify phi1 into phi1 15.316 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.316 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.317 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.317 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 15.317 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.317 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.317 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.317 * [backup-simplify]: Simplify 0.5 into 0.5 15.317 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.317 * [backup-simplify]: Simplify phi2 into phi2 15.317 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.317 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.317 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.317 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.317 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.317 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.317 * [backup-simplify]: Simplify 0.5 into 0.5 15.317 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.317 * [backup-simplify]: Simplify phi2 into phi2 15.317 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.317 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.317 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.317 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.317 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.317 * [backup-simplify]: Simplify lambda2 into lambda2 15.317 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.317 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.318 * [backup-simplify]: Simplify (- 0) into 0 15.318 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.318 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.318 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.318 * [backup-simplify]: Simplify (- 0) into 0 15.319 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.319 * [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)))) 15.319 * [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))))) 15.319 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.319 * [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)) 15.320 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1 15.320 * [taylor]: Taking taylor expansion of 2 in lambda1 15.320 * [backup-simplify]: Simplify 2 into 2 15.320 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1 15.320 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 15.320 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.320 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.320 * [backup-simplify]: Simplify 0.5 into 0.5 15.320 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.320 * [backup-simplify]: Simplify phi1 into phi1 15.320 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.320 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.320 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.320 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 15.320 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.320 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.320 * [backup-simplify]: Simplify 0.5 into 0.5 15.320 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.320 * [backup-simplify]: Simplify phi1 into phi1 15.320 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.320 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.320 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.320 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 15.320 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.320 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.320 * [backup-simplify]: Simplify 0.5 into 0.5 15.320 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.320 * [backup-simplify]: Simplify phi2 into phi2 15.320 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.320 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.320 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.320 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.320 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.321 * [backup-simplify]: Simplify 0.5 into 0.5 15.321 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.321 * [backup-simplify]: Simplify phi2 into phi2 15.321 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.321 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.321 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.321 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.321 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.321 * [backup-simplify]: Simplify 0 into 0 15.321 * [backup-simplify]: Simplify 1 into 1 15.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.321 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.321 * [backup-simplify]: Simplify (- 0) into 0 15.321 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.321 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.321 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.322 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.322 * [backup-simplify]: Simplify (- 0) into 0 15.322 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.322 * [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)))) 15.323 * [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))))) 15.323 * [backup-simplify]: Simplify (* 1 1) into 1 15.323 * [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))))) 15.323 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 0) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 15.324 * [backup-simplify]: Simplify (+ 0 (* (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)) 15.324 * [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))) 15.324 * [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))) 15.325 * [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)))))) 15.325 * [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)))))) 15.325 * [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)))))) 15.325 * [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)))))) 15.326 * [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))))))) 15.326 * [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))))))) 15.327 * [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)))))))) 15.327 * [backup-simplify]: Simplify (+ 0) into 0 15.328 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.328 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.329 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.329 * [backup-simplify]: Simplify (- 0) into 0 15.329 * [backup-simplify]: Simplify (+ 0 0) into 0 15.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.330 * [backup-simplify]: Simplify (+ 0) into 0 15.330 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.330 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.330 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.331 * [backup-simplify]: Simplify (- 0) into 0 15.331 * [backup-simplify]: Simplify (+ 0 0) into 0 15.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.332 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.332 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.333 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 15.334 * [backup-simplify]: Simplify (+ 0) into 0 15.334 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.334 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.336 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.336 * [backup-simplify]: Simplify (+ 0 0) into 0 15.336 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.336 * [backup-simplify]: Simplify (+ 0) into 0 15.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.337 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.339 * [backup-simplify]: Simplify (+ 0 0) into 0 15.339 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.339 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.340 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.341 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 15.341 * [backup-simplify]: Simplify (+ 0 0) into 0 15.342 * [backup-simplify]: Simplify (+ 0 0) into 0 15.342 * [backup-simplify]: Simplify (+ 0 0) into 0 15.342 * [backup-simplify]: Simplify (+ 0 0) into 0 15.343 * [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)) 15.343 * [backup-simplify]: Simplify (+ 0) into 0 15.344 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.344 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.345 * [backup-simplify]: Simplify (- 0) into 0 15.346 * [backup-simplify]: Simplify (+ 0 0) into 0 15.346 * [backup-simplify]: Simplify (+ 0) into 0 15.347 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.347 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.348 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.348 * [backup-simplify]: Simplify (+ 0 0) into 0 15.349 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.349 * [backup-simplify]: Simplify (+ 0) into 0 15.349 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.350 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.350 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.351 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.351 * [backup-simplify]: Simplify (+ 0 0) into 0 15.351 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.352 * [backup-simplify]: Simplify (+ 0) into 0 15.352 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.353 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.354 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.354 * [backup-simplify]: Simplify (- 0) into 0 15.354 * [backup-simplify]: Simplify (+ 0 0) into 0 15.355 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.355 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.356 * [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 15.357 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.358 * [backup-simplify]: Simplify (+ 0 0) into 0 15.358 * [backup-simplify]: Simplify (+ 0 0) into 0 15.358 * [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)) 15.359 * [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))) 15.359 * [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))) 15.362 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 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 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 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)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 15.362 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in phi1 15.362 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi1 15.362 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in phi1 15.362 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 15.362 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 15.362 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 15.362 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.362 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.362 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.362 * [backup-simplify]: Simplify 0.5 into 0.5 15.362 * [taylor]: Taking taylor expansion of phi1 in phi1 15.362 * [backup-simplify]: Simplify 0 into 0 15.362 * [backup-simplify]: Simplify 1 into 1 15.363 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.363 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.363 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 15.363 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.363 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.363 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.363 * [backup-simplify]: Simplify 0.5 into 0.5 15.363 * [taylor]: Taking taylor expansion of phi2 in phi1 15.363 * [backup-simplify]: Simplify phi2 into phi2 15.363 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.363 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.363 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.363 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.363 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.364 * [backup-simplify]: Simplify (- 0) into 0 15.364 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.364 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.364 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.364 * [backup-simplify]: Simplify lambda2 into lambda2 15.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.365 * [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)) 15.365 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.365 * [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)) 15.365 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in phi1 15.365 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 15.365 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 15.365 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 15.365 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.365 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.366 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.366 * [backup-simplify]: Simplify 0.5 into 0.5 15.366 * [taylor]: Taking taylor expansion of phi1 in phi1 15.366 * [backup-simplify]: Simplify 0 into 0 15.366 * [backup-simplify]: Simplify 1 into 1 15.366 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.366 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.366 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 15.366 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.366 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.366 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.366 * [backup-simplify]: Simplify 0.5 into 0.5 15.366 * [taylor]: Taking taylor expansion of phi2 in phi1 15.366 * [backup-simplify]: Simplify phi2 into phi2 15.366 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.367 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.367 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.367 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.367 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.367 * [backup-simplify]: Simplify (- 0) into 0 15.367 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.367 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.367 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.367 * [backup-simplify]: Simplify lambda1 into lambda1 15.368 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.368 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.368 * [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)) 15.368 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.369 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 15.369 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi1 15.369 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 15.369 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.369 * [taylor]: Taking taylor expansion of phi2 in phi1 15.369 * [backup-simplify]: Simplify phi2 into phi2 15.369 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.369 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.369 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1 15.369 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 15.369 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 15.369 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 15.369 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.369 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.369 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.369 * [backup-simplify]: Simplify 0.5 into 0.5 15.369 * [taylor]: Taking taylor expansion of phi1 in phi1 15.369 * [backup-simplify]: Simplify 0 into 0 15.369 * [backup-simplify]: Simplify 1 into 1 15.370 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.370 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.370 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 15.370 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.370 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.370 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.370 * [backup-simplify]: Simplify 0.5 into 0.5 15.370 * [taylor]: Taking taylor expansion of phi2 in phi1 15.370 * [backup-simplify]: Simplify phi2 into phi2 15.370 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.370 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.370 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.370 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.371 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.371 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.371 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.371 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.371 * [backup-simplify]: Simplify lambda1 into lambda1 15.371 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.371 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.371 * [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)) 15.372 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.372 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 15.372 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1 15.372 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 15.372 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.372 * [taylor]: Taking taylor expansion of phi1 in phi1 15.372 * [backup-simplify]: Simplify 0 into 0 15.372 * [backup-simplify]: Simplify 1 into 1 15.373 * [backup-simplify]: Simplify (* 1 1) into 1 15.373 * [backup-simplify]: Simplify (/ 1 1) into 1 15.373 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 15.373 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 15.373 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 15.373 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.373 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.373 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.373 * [backup-simplify]: Simplify 0.5 into 0.5 15.373 * [taylor]: Taking taylor expansion of phi1 in phi1 15.373 * [backup-simplify]: Simplify 0 into 0 15.373 * [backup-simplify]: Simplify 1 into 1 15.374 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.374 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.374 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 15.374 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.374 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.374 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.374 * [backup-simplify]: Simplify 0.5 into 0.5 15.374 * [taylor]: Taking taylor expansion of phi2 in phi1 15.374 * [backup-simplify]: Simplify phi2 into phi2 15.374 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.374 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.374 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.374 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.374 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.374 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.375 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.375 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.375 * [backup-simplify]: Simplify lambda2 into lambda2 15.375 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.375 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.375 * [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)) 15.375 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.376 * [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)) 15.376 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi1 15.376 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 15.376 * [taylor]: Taking taylor expansion of 2 in phi1 15.376 * [backup-simplify]: Simplify 2 into 2 15.376 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 15.376 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 15.376 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.376 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.376 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.376 * [backup-simplify]: Simplify 0.5 into 0.5 15.376 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.376 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.376 * [taylor]: Taking taylor expansion of phi1 in phi1 15.376 * [backup-simplify]: Simplify 0 into 0 15.376 * [backup-simplify]: Simplify 1 into 1 15.376 * [backup-simplify]: Simplify (/ 1 1) into 1 15.376 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.376 * [taylor]: Taking taylor expansion of phi2 in phi1 15.376 * [backup-simplify]: Simplify phi2 into phi2 15.376 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.377 * [backup-simplify]: Simplify (+ 1 0) into 1 15.377 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.377 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.377 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 15.377 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.377 * [backup-simplify]: Simplify lambda2 into lambda2 15.377 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.377 * [backup-simplify]: Simplify lambda1 into lambda1 15.377 * [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) 15.377 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.378 * [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)) 15.378 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi1 15.378 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 15.378 * [taylor]: Taking taylor expansion of 2 in phi1 15.378 * [backup-simplify]: Simplify 2 into 2 15.378 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 15.378 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 15.378 * [taylor]: Taking taylor expansion of phi2 in phi1 15.378 * [backup-simplify]: Simplify phi2 into phi2 15.378 * [taylor]: Taking taylor expansion of phi1 in phi1 15.378 * [backup-simplify]: Simplify 0 into 0 15.378 * [backup-simplify]: Simplify 1 into 1 15.378 * [backup-simplify]: Simplify (* phi2 0) into 0 15.378 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 15.378 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.378 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi1 15.378 * [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 15.378 * [taylor]: Taking taylor expansion of 2 in phi1 15.378 * [backup-simplify]: Simplify 2 into 2 15.378 * [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 15.378 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 15.378 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.378 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.378 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.378 * [backup-simplify]: Simplify 0.5 into 0.5 15.378 * [taylor]: Taking taylor expansion of phi1 in phi1 15.379 * [backup-simplify]: Simplify 0 into 0 15.379 * [backup-simplify]: Simplify 1 into 1 15.379 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.379 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.379 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 15.379 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.379 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.379 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.379 * [backup-simplify]: Simplify 0.5 into 0.5 15.379 * [taylor]: Taking taylor expansion of phi1 in phi1 15.379 * [backup-simplify]: Simplify 0 into 0 15.379 * [backup-simplify]: Simplify 1 into 1 15.380 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.380 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.380 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 15.380 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.380 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.380 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.380 * [backup-simplify]: Simplify 0.5 into 0.5 15.380 * [taylor]: Taking taylor expansion of phi2 in phi1 15.380 * [backup-simplify]: Simplify phi2 into phi2 15.380 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.380 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.380 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.380 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.380 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.380 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.380 * [backup-simplify]: Simplify 0.5 into 0.5 15.380 * [taylor]: Taking taylor expansion of phi2 in phi1 15.380 * [backup-simplify]: Simplify phi2 into phi2 15.380 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.380 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.380 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.380 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.380 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.380 * [backup-simplify]: Simplify lambda2 into lambda2 15.380 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.380 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.380 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.381 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.381 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.381 * [backup-simplify]: Simplify (- 0) into 0 15.381 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.381 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.381 * [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)))) 15.381 * [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))))) 15.381 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.382 * [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)) 15.382 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi1 15.382 * [taylor]: Taking taylor expansion of 2 in phi1 15.382 * [backup-simplify]: Simplify 2 into 2 15.382 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi1 15.382 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 15.382 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.382 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.382 * [backup-simplify]: Simplify 0.5 into 0.5 15.382 * [taylor]: Taking taylor expansion of phi1 in phi1 15.382 * [backup-simplify]: Simplify 0 into 0 15.382 * [backup-simplify]: Simplify 1 into 1 15.382 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.382 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.382 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 15.382 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.382 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.382 * [backup-simplify]: Simplify 0.5 into 0.5 15.382 * [taylor]: Taking taylor expansion of phi1 in phi1 15.382 * [backup-simplify]: Simplify 0 into 0 15.382 * [backup-simplify]: Simplify 1 into 1 15.383 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.383 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 15.383 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.383 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.383 * [backup-simplify]: Simplify 0.5 into 0.5 15.383 * [taylor]: Taking taylor expansion of phi2 in phi1 15.383 * [backup-simplify]: Simplify phi2 into phi2 15.383 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.383 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.383 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.383 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.383 * [backup-simplify]: Simplify 0.5 into 0.5 15.383 * [taylor]: Taking taylor expansion of phi2 in phi1 15.383 * [backup-simplify]: Simplify phi2 into phi2 15.383 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.383 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.383 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.383 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.383 * [backup-simplify]: Simplify lambda1 into lambda1 15.384 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.384 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.384 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.384 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.384 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.384 * [backup-simplify]: Simplify (- 0) into 0 15.384 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.384 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.384 * [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)))) 15.385 * [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))))) 15.385 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.385 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 15.385 * [backup-simplify]: Simplify (+ 1 0) into 1 15.386 * [backup-simplify]: Simplify (+ 0 1) into 1 15.386 * [backup-simplify]: Simplify (+ 0 1) into 1 15.386 * [backup-simplify]: Simplify (+ 0 1) into 1 15.386 * [backup-simplify]: Simplify (+ 0 1) into 1 15.387 * [backup-simplify]: Simplify (+ 1 0) into 1 15.387 * [backup-simplify]: Simplify (sqrt 1) into 1 15.387 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.388 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.388 * [backup-simplify]: Simplify (+ 0 0) into 0 15.388 * [backup-simplify]: Simplify (+ 0 0) into 0 15.389 * [backup-simplify]: Simplify (+ 0 0) into 0 15.389 * [backup-simplify]: Simplify (+ 0 0) into 0 15.389 * [backup-simplify]: Simplify (+ 0 0) into 0 15.389 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 15.389 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 15.389 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 15.389 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 15.389 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 15.390 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 15.390 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in phi2 15.390 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi2 15.390 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in phi2 15.390 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 15.390 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 15.390 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 15.390 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.390 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.390 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.390 * [backup-simplify]: Simplify 0.5 into 0.5 15.390 * [taylor]: Taking taylor expansion of phi1 in phi2 15.390 * [backup-simplify]: Simplify phi1 into phi1 15.390 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.390 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.390 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.390 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.390 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.391 * [backup-simplify]: Simplify (- 0) into 0 15.391 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.391 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 15.391 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.391 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.391 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.391 * [backup-simplify]: Simplify 0.5 into 0.5 15.391 * [taylor]: Taking taylor expansion of phi2 in phi2 15.391 * [backup-simplify]: Simplify 0 into 0 15.391 * [backup-simplify]: Simplify 1 into 1 15.391 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.391 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.391 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 15.391 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.391 * [backup-simplify]: Simplify lambda2 into lambda2 15.391 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.391 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.392 * [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)) 15.392 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.392 * [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)) 15.392 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in phi2 15.392 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 15.392 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 15.392 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 15.392 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.392 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.392 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.392 * [backup-simplify]: Simplify 0.5 into 0.5 15.392 * [taylor]: Taking taylor expansion of phi1 in phi2 15.392 * [backup-simplify]: Simplify phi1 into phi1 15.392 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.392 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.392 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.392 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.393 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.393 * [backup-simplify]: Simplify (- 0) into 0 15.393 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.393 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 15.393 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.393 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.393 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.393 * [backup-simplify]: Simplify 0.5 into 0.5 15.393 * [taylor]: Taking taylor expansion of phi2 in phi2 15.393 * [backup-simplify]: Simplify 0 into 0 15.393 * [backup-simplify]: Simplify 1 into 1 15.393 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.393 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.393 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 15.393 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.393 * [backup-simplify]: Simplify lambda1 into lambda1 15.394 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.394 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.394 * [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)) 15.394 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.394 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 15.394 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi2 15.394 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 15.394 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 15.394 * [taylor]: Taking taylor expansion of phi2 in phi2 15.394 * [backup-simplify]: Simplify 0 into 0 15.394 * [backup-simplify]: Simplify 1 into 1 15.395 * [backup-simplify]: Simplify (* 1 1) into 1 15.395 * [backup-simplify]: Simplify (/ 1 1) into 1 15.395 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2 15.395 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 15.395 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 15.395 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 15.395 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.395 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.395 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.395 * [backup-simplify]: Simplify 0.5 into 0.5 15.395 * [taylor]: Taking taylor expansion of phi1 in phi2 15.395 * [backup-simplify]: Simplify phi1 into phi1 15.395 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.395 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.395 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.395 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.395 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.395 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.395 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 15.395 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.395 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.395 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.395 * [backup-simplify]: Simplify 0.5 into 0.5 15.395 * [taylor]: Taking taylor expansion of phi2 in phi2 15.395 * [backup-simplify]: Simplify 0 into 0 15.396 * [backup-simplify]: Simplify 1 into 1 15.396 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.396 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.396 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 15.396 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.396 * [backup-simplify]: Simplify lambda1 into lambda1 15.396 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.396 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.396 * [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)) 15.396 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.397 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 15.397 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2 15.397 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 15.397 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 15.397 * [taylor]: Taking taylor expansion of phi1 in phi2 15.397 * [backup-simplify]: Simplify phi1 into phi1 15.397 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.397 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.397 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 15.397 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 15.397 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 15.397 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.397 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.397 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.397 * [backup-simplify]: Simplify 0.5 into 0.5 15.397 * [taylor]: Taking taylor expansion of phi1 in phi2 15.397 * [backup-simplify]: Simplify phi1 into phi1 15.397 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.397 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.397 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.397 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.397 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.397 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.397 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 15.397 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.397 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.397 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.397 * [backup-simplify]: Simplify 0.5 into 0.5 15.397 * [taylor]: Taking taylor expansion of phi2 in phi2 15.397 * [backup-simplify]: Simplify 0 into 0 15.398 * [backup-simplify]: Simplify 1 into 1 15.398 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.398 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.398 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 15.398 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.398 * [backup-simplify]: Simplify lambda2 into lambda2 15.398 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.398 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.398 * [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)) 15.398 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.399 * [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)) 15.399 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi2 15.399 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 15.399 * [taylor]: Taking taylor expansion of 2 in phi2 15.399 * [backup-simplify]: Simplify 2 into 2 15.399 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 15.399 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 15.399 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.399 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.399 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.399 * [backup-simplify]: Simplify 0.5 into 0.5 15.399 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.399 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.399 * [taylor]: Taking taylor expansion of phi1 in phi2 15.399 * [backup-simplify]: Simplify phi1 into phi1 15.399 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.399 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.399 * [taylor]: Taking taylor expansion of phi2 in phi2 15.399 * [backup-simplify]: Simplify 0 into 0 15.399 * [backup-simplify]: Simplify 1 into 1 15.399 * [backup-simplify]: Simplify (/ 1 1) into 1 15.400 * [backup-simplify]: Simplify (+ 0 1) into 1 15.400 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.400 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.400 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 15.400 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.400 * [backup-simplify]: Simplify lambda2 into lambda2 15.400 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.400 * [backup-simplify]: Simplify lambda1 into lambda1 15.400 * [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) 15.400 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.400 * [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)) 15.400 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi2 15.401 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 15.401 * [taylor]: Taking taylor expansion of 2 in phi2 15.401 * [backup-simplify]: Simplify 2 into 2 15.401 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 15.401 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 15.401 * [taylor]: Taking taylor expansion of phi2 in phi2 15.401 * [backup-simplify]: Simplify 0 into 0 15.401 * [backup-simplify]: Simplify 1 into 1 15.401 * [taylor]: Taking taylor expansion of phi1 in phi2 15.401 * [backup-simplify]: Simplify phi1 into phi1 15.401 * [backup-simplify]: Simplify (* 0 phi1) into 0 15.401 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 15.401 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.401 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi2 15.401 * [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 15.401 * [taylor]: Taking taylor expansion of 2 in phi2 15.401 * [backup-simplify]: Simplify 2 into 2 15.401 * [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 15.401 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 15.401 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.401 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.401 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.401 * [backup-simplify]: Simplify 0.5 into 0.5 15.401 * [taylor]: Taking taylor expansion of phi1 in phi2 15.401 * [backup-simplify]: Simplify phi1 into phi1 15.401 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.401 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.401 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.401 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 15.401 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.401 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.402 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.402 * [backup-simplify]: Simplify 0.5 into 0.5 15.402 * [taylor]: Taking taylor expansion of phi1 in phi2 15.402 * [backup-simplify]: Simplify phi1 into phi1 15.402 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.402 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.402 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.402 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 15.402 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.402 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.402 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.402 * [backup-simplify]: Simplify 0.5 into 0.5 15.402 * [taylor]: Taking taylor expansion of phi2 in phi2 15.402 * [backup-simplify]: Simplify 0 into 0 15.402 * [backup-simplify]: Simplify 1 into 1 15.402 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.402 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.402 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.402 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.402 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.402 * [backup-simplify]: Simplify 0.5 into 0.5 15.402 * [taylor]: Taking taylor expansion of phi2 in phi2 15.402 * [backup-simplify]: Simplify 0 into 0 15.402 * [backup-simplify]: Simplify 1 into 1 15.403 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.403 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.403 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 15.403 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.403 * [backup-simplify]: Simplify lambda2 into lambda2 15.403 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.403 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.403 * [backup-simplify]: Simplify (- 0) into 0 15.403 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.403 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.403 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.403 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.403 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.404 * [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)))) 15.404 * [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))))) 15.404 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.404 * [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)) 15.404 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi2 15.404 * [taylor]: Taking taylor expansion of 2 in phi2 15.404 * [backup-simplify]: Simplify 2 into 2 15.404 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi2 15.404 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 15.404 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.404 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.404 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.404 * [backup-simplify]: Simplify 0.5 into 0.5 15.404 * [taylor]: Taking taylor expansion of phi1 in phi2 15.404 * [backup-simplify]: Simplify phi1 into phi1 15.404 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.404 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.404 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.405 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 15.405 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.405 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.405 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.405 * [backup-simplify]: Simplify 0.5 into 0.5 15.405 * [taylor]: Taking taylor expansion of phi1 in phi2 15.405 * [backup-simplify]: Simplify phi1 into phi1 15.405 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.405 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.405 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.405 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 15.405 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.405 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.405 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.405 * [backup-simplify]: Simplify 0.5 into 0.5 15.405 * [taylor]: Taking taylor expansion of phi2 in phi2 15.405 * [backup-simplify]: Simplify 0 into 0 15.405 * [backup-simplify]: Simplify 1 into 1 15.405 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.405 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.405 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.405 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.405 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.405 * [backup-simplify]: Simplify 0.5 into 0.5 15.405 * [taylor]: Taking taylor expansion of phi2 in phi2 15.405 * [backup-simplify]: Simplify 0 into 0 15.405 * [backup-simplify]: Simplify 1 into 1 15.406 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.406 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.406 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 15.406 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.406 * [backup-simplify]: Simplify lambda1 into lambda1 15.406 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.406 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.406 * [backup-simplify]: Simplify (- 0) into 0 15.406 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.406 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.406 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.406 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.407 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.407 * [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)))) 15.407 * [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))))) 15.407 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.407 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 15.407 * [backup-simplify]: Simplify (+ 1 0) into 1 15.408 * [backup-simplify]: Simplify (+ 0 1) into 1 15.408 * [backup-simplify]: Simplify (+ 0 1) into 1 15.408 * [backup-simplify]: Simplify (+ 1 0) into 1 15.408 * [backup-simplify]: Simplify (sqrt 1) into 1 15.409 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.409 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.409 * [backup-simplify]: Simplify (+ 0 0) into 0 15.410 * [backup-simplify]: Simplify (+ 0 0) into 0 15.410 * [backup-simplify]: Simplify (+ 0 0) into 0 15.410 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 15.410 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 15.410 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 15.410 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 15.410 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 15.411 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 15.411 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in phi2 15.411 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi2 15.411 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in phi2 15.411 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 15.411 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 15.411 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 15.411 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.411 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.411 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.411 * [backup-simplify]: Simplify 0.5 into 0.5 15.411 * [taylor]: Taking taylor expansion of phi1 in phi2 15.411 * [backup-simplify]: Simplify phi1 into phi1 15.411 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.411 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.411 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.411 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.411 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.412 * [backup-simplify]: Simplify (- 0) into 0 15.412 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.412 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 15.412 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.412 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.412 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.412 * [backup-simplify]: Simplify 0.5 into 0.5 15.412 * [taylor]: Taking taylor expansion of phi2 in phi2 15.412 * [backup-simplify]: Simplify 0 into 0 15.412 * [backup-simplify]: Simplify 1 into 1 15.412 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.412 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.412 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 15.412 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.412 * [backup-simplify]: Simplify lambda2 into lambda2 15.412 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.412 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.413 * [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)) 15.413 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.413 * [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)) 15.413 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in phi2 15.413 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 15.413 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 15.413 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 15.413 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.413 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.413 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.413 * [backup-simplify]: Simplify 0.5 into 0.5 15.413 * [taylor]: Taking taylor expansion of phi1 in phi2 15.413 * [backup-simplify]: Simplify phi1 into phi1 15.413 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.413 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.413 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.414 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.414 * [backup-simplify]: Simplify (- 0) into 0 15.414 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.414 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 15.414 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.414 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.414 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.414 * [backup-simplify]: Simplify 0.5 into 0.5 15.414 * [taylor]: Taking taylor expansion of phi2 in phi2 15.414 * [backup-simplify]: Simplify 0 into 0 15.414 * [backup-simplify]: Simplify 1 into 1 15.414 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.414 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.414 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 15.414 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.414 * [backup-simplify]: Simplify lambda1 into lambda1 15.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.415 * [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)) 15.415 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.415 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 15.415 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi2 15.415 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 15.415 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 15.415 * [taylor]: Taking taylor expansion of phi2 in phi2 15.415 * [backup-simplify]: Simplify 0 into 0 15.415 * [backup-simplify]: Simplify 1 into 1 15.416 * [backup-simplify]: Simplify (* 1 1) into 1 15.416 * [backup-simplify]: Simplify (/ 1 1) into 1 15.416 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2 15.416 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 15.416 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 15.416 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 15.416 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.416 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.416 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.416 * [backup-simplify]: Simplify 0.5 into 0.5 15.416 * [taylor]: Taking taylor expansion of phi1 in phi2 15.416 * [backup-simplify]: Simplify phi1 into phi1 15.416 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.416 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.417 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.417 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.417 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.417 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.417 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 15.417 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.417 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.417 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.417 * [backup-simplify]: Simplify 0.5 into 0.5 15.417 * [taylor]: Taking taylor expansion of phi2 in phi2 15.417 * [backup-simplify]: Simplify 0 into 0 15.417 * [backup-simplify]: Simplify 1 into 1 15.418 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.418 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.418 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 15.418 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.418 * [backup-simplify]: Simplify lambda1 into lambda1 15.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.419 * [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)) 15.419 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.419 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 15.419 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2 15.419 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 15.419 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 15.419 * [taylor]: Taking taylor expansion of phi1 in phi2 15.419 * [backup-simplify]: Simplify phi1 into phi1 15.419 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.420 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.420 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 15.420 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 15.420 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 15.420 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.420 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.420 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.420 * [backup-simplify]: Simplify 0.5 into 0.5 15.420 * [taylor]: Taking taylor expansion of phi1 in phi2 15.420 * [backup-simplify]: Simplify phi1 into phi1 15.420 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.420 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.420 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.420 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.420 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.420 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.420 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 15.421 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.421 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.421 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.421 * [backup-simplify]: Simplify 0.5 into 0.5 15.421 * [taylor]: Taking taylor expansion of phi2 in phi2 15.421 * [backup-simplify]: Simplify 0 into 0 15.421 * [backup-simplify]: Simplify 1 into 1 15.421 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.421 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.421 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 15.421 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.421 * [backup-simplify]: Simplify lambda2 into lambda2 15.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.422 * [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)) 15.422 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.423 * [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)) 15.423 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi2 15.423 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 15.423 * [taylor]: Taking taylor expansion of 2 in phi2 15.423 * [backup-simplify]: Simplify 2 into 2 15.423 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 15.423 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 15.423 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.423 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.423 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.423 * [backup-simplify]: Simplify 0.5 into 0.5 15.423 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.423 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.423 * [taylor]: Taking taylor expansion of phi1 in phi2 15.423 * [backup-simplify]: Simplify phi1 into phi1 15.423 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.423 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.423 * [taylor]: Taking taylor expansion of phi2 in phi2 15.423 * [backup-simplify]: Simplify 0 into 0 15.423 * [backup-simplify]: Simplify 1 into 1 15.424 * [backup-simplify]: Simplify (/ 1 1) into 1 15.424 * [backup-simplify]: Simplify (+ 0 1) into 1 15.424 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.425 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.425 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 15.425 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.425 * [backup-simplify]: Simplify lambda2 into lambda2 15.425 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.425 * [backup-simplify]: Simplify lambda1 into lambda1 15.425 * [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) 15.425 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.425 * [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)) 15.425 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi2 15.425 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 15.426 * [taylor]: Taking taylor expansion of 2 in phi2 15.426 * [backup-simplify]: Simplify 2 into 2 15.426 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 15.426 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 15.426 * [taylor]: Taking taylor expansion of phi2 in phi2 15.426 * [backup-simplify]: Simplify 0 into 0 15.426 * [backup-simplify]: Simplify 1 into 1 15.426 * [taylor]: Taking taylor expansion of phi1 in phi2 15.426 * [backup-simplify]: Simplify phi1 into phi1 15.426 * [backup-simplify]: Simplify (* 0 phi1) into 0 15.426 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 15.426 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.426 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi2 15.426 * [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 15.426 * [taylor]: Taking taylor expansion of 2 in phi2 15.426 * [backup-simplify]: Simplify 2 into 2 15.426 * [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 15.426 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 15.426 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.426 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.427 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.427 * [backup-simplify]: Simplify 0.5 into 0.5 15.427 * [taylor]: Taking taylor expansion of phi1 in phi2 15.427 * [backup-simplify]: Simplify phi1 into phi1 15.427 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.427 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.427 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.427 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 15.427 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.427 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.427 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.427 * [backup-simplify]: Simplify 0.5 into 0.5 15.427 * [taylor]: Taking taylor expansion of phi1 in phi2 15.427 * [backup-simplify]: Simplify phi1 into phi1 15.427 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.427 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.427 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.427 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 15.427 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.427 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.427 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.427 * [backup-simplify]: Simplify 0.5 into 0.5 15.427 * [taylor]: Taking taylor expansion of phi2 in phi2 15.427 * [backup-simplify]: Simplify 0 into 0 15.428 * [backup-simplify]: Simplify 1 into 1 15.428 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.428 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.428 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.428 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.428 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.428 * [backup-simplify]: Simplify 0.5 into 0.5 15.428 * [taylor]: Taking taylor expansion of phi2 in phi2 15.428 * [backup-simplify]: Simplify 0 into 0 15.428 * [backup-simplify]: Simplify 1 into 1 15.429 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.429 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.429 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 15.429 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.429 * [backup-simplify]: Simplify lambda2 into lambda2 15.429 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.429 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.429 * [backup-simplify]: Simplify (- 0) into 0 15.430 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.430 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.430 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.430 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.430 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.430 * [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)))) 15.431 * [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))))) 15.431 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.431 * [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)) 15.431 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi2 15.431 * [taylor]: Taking taylor expansion of 2 in phi2 15.431 * [backup-simplify]: Simplify 2 into 2 15.431 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi2 15.431 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 15.431 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.431 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.431 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.431 * [backup-simplify]: Simplify 0.5 into 0.5 15.431 * [taylor]: Taking taylor expansion of phi1 in phi2 15.432 * [backup-simplify]: Simplify phi1 into phi1 15.432 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.432 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.432 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.432 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 15.432 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.432 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.432 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.432 * [backup-simplify]: Simplify 0.5 into 0.5 15.432 * [taylor]: Taking taylor expansion of phi1 in phi2 15.432 * [backup-simplify]: Simplify phi1 into phi1 15.432 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.432 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.432 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.432 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 15.432 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.432 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.432 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.432 * [backup-simplify]: Simplify 0.5 into 0.5 15.432 * [taylor]: Taking taylor expansion of phi2 in phi2 15.432 * [backup-simplify]: Simplify 0 into 0 15.432 * [backup-simplify]: Simplify 1 into 1 15.437 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.437 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.437 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.437 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.437 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.437 * [backup-simplify]: Simplify 0.5 into 0.5 15.437 * [taylor]: Taking taylor expansion of phi2 in phi2 15.437 * [backup-simplify]: Simplify 0 into 0 15.437 * [backup-simplify]: Simplify 1 into 1 15.438 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.438 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.438 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 15.438 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.438 * [backup-simplify]: Simplify lambda1 into lambda1 15.438 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.439 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.439 * [backup-simplify]: Simplify (- 0) into 0 15.439 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.439 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.439 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.439 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.439 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.440 * [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)))) 15.440 * [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))))) 15.440 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.441 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 15.441 * [backup-simplify]: Simplify (+ 1 0) into 1 15.441 * [backup-simplify]: Simplify (+ 0 1) into 1 15.442 * [backup-simplify]: Simplify (+ 0 1) into 1 15.442 * [backup-simplify]: Simplify (+ 1 0) into 1 15.443 * [backup-simplify]: Simplify (sqrt 1) into 1 15.443 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.444 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.444 * [backup-simplify]: Simplify (+ 0 0) into 0 15.445 * [backup-simplify]: Simplify (+ 0 0) into 0 15.445 * [backup-simplify]: Simplify (+ 0 0) into 0 15.445 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 15.445 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 15.445 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 15.445 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 15.446 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 15.446 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 15.446 * [taylor]: Taking taylor expansion of 1 in phi1 15.446 * [backup-simplify]: Simplify 1 into 1 15.446 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 15.446 * [taylor]: Taking taylor expansion of -1 in phi1 15.446 * [backup-simplify]: Simplify -1 into -1 15.446 * [taylor]: Taking taylor expansion of phi1 in phi1 15.446 * [backup-simplify]: Simplify 0 into 0 15.446 * [backup-simplify]: Simplify 1 into 1 15.447 * [backup-simplify]: Simplify (/ -1 1) into -1 15.447 * [taylor]: Taking taylor expansion of -1 in lambda1 15.447 * [backup-simplify]: Simplify -1 into -1 15.447 * [taylor]: Taking taylor expansion of 1 in lambda1 15.447 * [backup-simplify]: Simplify 1 into 1 15.448 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 15.449 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 15.449 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) into (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) 15.451 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (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 lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 15.452 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (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 lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 15.454 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (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 lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) 15.457 * [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 lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (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 lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) 15.458 * [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))) 15.459 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 15.459 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.460 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 15.460 * [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))) 15.461 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) 15.462 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) 15.464 * [backup-simplify]: Simplify (+ 0 (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) into (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) 15.466 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) 15.468 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 15.474 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 15.482 * [backup-simplify]: Simplify (/ (- (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) (pow (/ -1 phi1) 2) (+)) (* 2 1)) into (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) 15.482 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi1 15.482 * [taylor]: Taking taylor expansion of 1/2 in phi1 15.482 * [backup-simplify]: Simplify 1/2 into 1/2 15.482 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi1 15.483 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi1 15.483 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 15.483 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 15.483 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 15.483 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.483 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.483 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.483 * [backup-simplify]: Simplify 0.5 into 0.5 15.483 * [taylor]: Taking taylor expansion of phi1 in phi1 15.483 * [backup-simplify]: Simplify 0 into 0 15.483 * [backup-simplify]: Simplify 1 into 1 15.483 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.484 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.484 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 15.484 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.484 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.484 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.484 * [backup-simplify]: Simplify 0.5 into 0.5 15.484 * [taylor]: Taking taylor expansion of phi2 in phi1 15.484 * [backup-simplify]: Simplify phi2 into phi2 15.484 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.484 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.484 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.484 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.484 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.484 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.484 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.484 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.485 * [backup-simplify]: Simplify lambda2 into lambda2 15.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.485 * [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)) 15.485 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.486 * [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)) 15.486 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1 15.486 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 15.486 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 15.486 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 15.486 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.486 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.486 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.486 * [backup-simplify]: Simplify 0.5 into 0.5 15.486 * [taylor]: Taking taylor expansion of phi1 in phi1 15.486 * [backup-simplify]: Simplify 0 into 0 15.486 * [backup-simplify]: Simplify 1 into 1 15.487 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.487 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.487 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 15.487 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.487 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.487 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.487 * [backup-simplify]: Simplify 0.5 into 0.5 15.487 * [taylor]: Taking taylor expansion of phi2 in phi1 15.487 * [backup-simplify]: Simplify phi2 into phi2 15.487 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.487 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.487 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.488 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.488 * [backup-simplify]: Simplify (- 0) into 0 15.488 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.488 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.488 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.488 * [backup-simplify]: Simplify lambda1 into lambda1 15.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.489 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.489 * [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)) 15.489 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.490 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 15.490 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1 15.490 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 15.490 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 15.490 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 15.490 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.490 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.490 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.490 * [backup-simplify]: Simplify 0.5 into 0.5 15.490 * [taylor]: Taking taylor expansion of phi1 in phi1 15.490 * [backup-simplify]: Simplify 0 into 0 15.490 * [backup-simplify]: Simplify 1 into 1 15.491 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.491 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.491 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 15.491 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.491 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.491 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.491 * [backup-simplify]: Simplify 0.5 into 0.5 15.491 * [taylor]: Taking taylor expansion of phi2 in phi1 15.491 * [backup-simplify]: Simplify phi2 into phi2 15.491 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.491 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.491 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.491 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.492 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.492 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.492 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.492 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.492 * [backup-simplify]: Simplify lambda1 into lambda1 15.492 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.492 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.492 * [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)) 15.493 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.493 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 15.493 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 15.493 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 15.493 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 15.493 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.493 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.493 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.493 * [backup-simplify]: Simplify 0.5 into 0.5 15.493 * [taylor]: Taking taylor expansion of phi1 in phi1 15.493 * [backup-simplify]: Simplify 0 into 0 15.493 * [backup-simplify]: Simplify 1 into 1 15.494 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.494 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.494 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 15.494 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.494 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.494 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.494 * [backup-simplify]: Simplify 0.5 into 0.5 15.494 * [taylor]: Taking taylor expansion of phi2 in phi1 15.494 * [backup-simplify]: Simplify phi2 into phi2 15.494 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.494 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.494 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.495 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.495 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.495 * [backup-simplify]: Simplify (- 0) into 0 15.495 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.495 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.495 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.495 * [backup-simplify]: Simplify lambda2 into lambda2 15.496 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.496 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.496 * [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)) 15.496 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.497 * [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)) 15.497 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi1 15.497 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 15.497 * [taylor]: Taking taylor expansion of 2 in phi1 15.497 * [backup-simplify]: Simplify 2 into 2 15.497 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 15.497 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 15.497 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.497 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.497 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.497 * [backup-simplify]: Simplify 0.5 into 0.5 15.497 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.497 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.497 * [taylor]: Taking taylor expansion of phi1 in phi1 15.497 * [backup-simplify]: Simplify 0 into 0 15.497 * [backup-simplify]: Simplify 1 into 1 15.498 * [backup-simplify]: Simplify (/ 1 1) into 1 15.498 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.498 * [taylor]: Taking taylor expansion of phi2 in phi1 15.498 * [backup-simplify]: Simplify phi2 into phi2 15.498 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.498 * [backup-simplify]: Simplify (+ 1 0) into 1 15.499 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.499 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.499 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 15.499 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.499 * [backup-simplify]: Simplify lambda2 into lambda2 15.499 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.499 * [backup-simplify]: Simplify lambda1 into lambda1 15.499 * [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) 15.499 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.500 * [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)) 15.500 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi1 15.500 * [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 15.500 * [taylor]: Taking taylor expansion of 2 in phi1 15.500 * [backup-simplify]: Simplify 2 into 2 15.500 * [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 15.500 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 15.500 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.500 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.500 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.500 * [backup-simplify]: Simplify 0.5 into 0.5 15.500 * [taylor]: Taking taylor expansion of phi1 in phi1 15.500 * [backup-simplify]: Simplify 0 into 0 15.500 * [backup-simplify]: Simplify 1 into 1 15.501 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.501 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.501 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 15.501 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.501 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.501 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.501 * [backup-simplify]: Simplify 0.5 into 0.5 15.501 * [taylor]: Taking taylor expansion of phi1 in phi1 15.501 * [backup-simplify]: Simplify 0 into 0 15.501 * [backup-simplify]: Simplify 1 into 1 15.502 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.502 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.502 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 15.502 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.502 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.502 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.502 * [backup-simplify]: Simplify 0.5 into 0.5 15.502 * [taylor]: Taking taylor expansion of phi2 in phi1 15.502 * [backup-simplify]: Simplify phi2 into phi2 15.502 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.502 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.502 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.502 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.502 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.502 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.502 * [backup-simplify]: Simplify 0.5 into 0.5 15.502 * [taylor]: Taking taylor expansion of phi2 in phi1 15.502 * [backup-simplify]: Simplify phi2 into phi2 15.502 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.503 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.503 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.503 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.503 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.503 * [backup-simplify]: Simplify lambda2 into lambda2 15.503 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.503 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.503 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.503 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.503 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.504 * [backup-simplify]: Simplify (- 0) into 0 15.504 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.504 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.504 * [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)))) 15.505 * [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))))) 15.505 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.505 * [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)) 15.505 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi1 15.505 * [taylor]: Taking taylor expansion of 2 in phi1 15.505 * [backup-simplify]: Simplify 2 into 2 15.505 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi1 15.505 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 15.505 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.505 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.505 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.505 * [backup-simplify]: Simplify 0.5 into 0.5 15.506 * [taylor]: Taking taylor expansion of phi1 in phi1 15.506 * [backup-simplify]: Simplify 0 into 0 15.506 * [backup-simplify]: Simplify 1 into 1 15.506 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.506 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.506 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 15.506 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.506 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.506 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.506 * [backup-simplify]: Simplify 0.5 into 0.5 15.506 * [taylor]: Taking taylor expansion of phi1 in phi1 15.506 * [backup-simplify]: Simplify 0 into 0 15.506 * [backup-simplify]: Simplify 1 into 1 15.507 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.507 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.507 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 15.507 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.507 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.507 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.507 * [backup-simplify]: Simplify 0.5 into 0.5 15.507 * [taylor]: Taking taylor expansion of phi2 in phi1 15.507 * [backup-simplify]: Simplify phi2 into phi2 15.507 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.507 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.507 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.508 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.508 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.508 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.508 * [backup-simplify]: Simplify 0.5 into 0.5 15.508 * [taylor]: Taking taylor expansion of phi2 in phi1 15.508 * [backup-simplify]: Simplify phi2 into phi2 15.508 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.508 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.508 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.508 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.508 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.508 * [backup-simplify]: Simplify lambda1 into lambda1 15.508 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.508 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.508 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.508 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.509 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.509 * [backup-simplify]: Simplify (- 0) into 0 15.509 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.509 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.510 * [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)))) 15.510 * [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))))) 15.510 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.510 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 15.511 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)))) into 0 15.511 * [taylor]: Taking taylor expansion of 0 in lambda1 15.511 * [backup-simplify]: Simplify 0 into 0 15.512 * [taylor]: Taking taylor expansion of 0 in lambda1 15.512 * [backup-simplify]: Simplify 0 into 0 15.512 * [taylor]: Taking taylor expansion of -1 in lambda2 15.512 * [backup-simplify]: Simplify -1 into -1 15.512 * [taylor]: Taking taylor expansion of 1 in lambda2 15.512 * [backup-simplify]: Simplify 1 into 1 15.512 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.512 * [backup-simplify]: Simplify (+ 0) into 0 15.513 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.513 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.515 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.515 * [backup-simplify]: Simplify (- 0) into 0 15.515 * [backup-simplify]: Simplify (+ 0 0) into 0 15.516 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.516 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.516 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.517 * [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 15.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.518 * [backup-simplify]: Simplify (+ 0) into 0 15.518 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.518 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.520 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.520 * [backup-simplify]: Simplify (- 0) into 0 15.520 * [backup-simplify]: Simplify (+ 0 0) into 0 15.521 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.521 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.521 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 15.522 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 15.523 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 15.524 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 15.524 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.525 * [backup-simplify]: Simplify (+ 0) into 0 15.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.525 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.526 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.527 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.527 * [backup-simplify]: Simplify (+ 0 0) into 0 15.527 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.528 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.528 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 15.528 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 15.528 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.529 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 15.529 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.529 * [backup-simplify]: Simplify (+ 0) into 0 15.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.530 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.531 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.532 * [backup-simplify]: Simplify (+ 0 0) into 0 15.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.532 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.532 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.533 * [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 15.533 * [backup-simplify]: Simplify (+ 0 0) into 0 15.534 * [backup-simplify]: Simplify (+ 0 0) into 0 15.534 * [backup-simplify]: Simplify (+ 0 0) into 0 15.534 * [backup-simplify]: Simplify (+ 0 0) into 0 15.535 * [backup-simplify]: Simplify (+ 0 0) into 0 15.535 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.535 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 15.536 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 15.536 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 15.537 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 phi1)))) into 0 15.538 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.538 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ 1 phi1)))) into 0 15.539 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.539 * [backup-simplify]: Simplify (+ 0) into 0 15.540 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.540 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.540 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.541 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.541 * [backup-simplify]: Simplify (+ 0 0) into 0 15.542 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.542 * [backup-simplify]: Simplify (+ 0) into 0 15.542 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.543 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.543 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.544 * [backup-simplify]: Simplify (- 0) into 0 15.544 * [backup-simplify]: Simplify (+ 0 0) into 0 15.545 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.545 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.546 * [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 15.547 * [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 15.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.547 * [backup-simplify]: Simplify (+ 0) into 0 15.548 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.548 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.549 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.549 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.550 * [backup-simplify]: Simplify (+ 0 0) into 0 15.550 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.550 * [backup-simplify]: Simplify (+ 0) into 0 15.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.551 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.552 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.552 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.552 * [backup-simplify]: Simplify (- 0) into 0 15.553 * [backup-simplify]: Simplify (+ 0 0) into 0 15.553 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.553 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 15.554 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 15.555 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into 0 15.555 * [backup-simplify]: Simplify (+ 0 0) into 0 15.556 * [backup-simplify]: Simplify (+ 0 0) into 0 15.556 * [backup-simplify]: Simplify (+ 0 0) into 0 15.556 * [backup-simplify]: Simplify (- 0) into 0 15.557 * [backup-simplify]: Simplify (+ 0 0) into 0 15.565 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (/ -1 phi1) (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))))))) (* 2 1)) into (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))))))) 15.566 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))))))) in phi1 15.566 * [taylor]: Taking taylor expansion of 1/2 in phi1 15.566 * [backup-simplify]: Simplify 1/2 into 1/2 15.566 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1)))))) in phi1 15.566 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))))) in phi1 15.566 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) in phi1 15.566 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 15.566 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 15.566 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.566 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.566 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.566 * [backup-simplify]: Simplify 0.5 into 0.5 15.566 * [taylor]: Taking taylor expansion of phi1 in phi1 15.566 * [backup-simplify]: Simplify 0 into 0 15.566 * [backup-simplify]: Simplify 1 into 1 15.567 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.567 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.567 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 15.567 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.567 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.567 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.567 * [backup-simplify]: Simplify 0.5 into 0.5 15.567 * [taylor]: Taking taylor expansion of phi2 in phi1 15.567 * [backup-simplify]: Simplify phi2 into phi2 15.567 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.567 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.567 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.567 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.568 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.568 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 15.568 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.568 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.568 * [backup-simplify]: Simplify lambda1 into lambda1 15.568 * [taylor]: Taking taylor expansion of phi1 in phi1 15.568 * [backup-simplify]: Simplify 0 into 0 15.568 * [backup-simplify]: Simplify 1 into 1 15.568 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.568 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.568 * [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)) 15.569 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.569 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 15.569 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 15.569 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 15.570 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 15.570 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2))))) in phi1 15.570 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) in phi1 15.570 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 15.570 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 15.570 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.570 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.570 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.570 * [backup-simplify]: Simplify 0.5 into 0.5 15.570 * [taylor]: Taking taylor expansion of phi1 in phi1 15.570 * [backup-simplify]: Simplify 0 into 0 15.570 * [backup-simplify]: Simplify 1 into 1 15.571 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.571 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.571 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 15.571 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.571 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.571 * [backup-simplify]: Simplify 0.5 into 0.5 15.571 * [taylor]: Taking taylor expansion of phi2 in phi1 15.571 * [backup-simplify]: Simplify phi2 into phi2 15.571 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.571 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.571 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.571 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.572 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.572 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.572 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 15.572 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.572 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.572 * [backup-simplify]: Simplify lambda2 into lambda2 15.572 * [taylor]: Taking taylor expansion of phi1 in phi1 15.572 * [backup-simplify]: Simplify 0 into 0 15.572 * [backup-simplify]: Simplify 1 into 1 15.572 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.572 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.573 * [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)) 15.573 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.573 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 15.573 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.574 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 15.575 * [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)) 15.575 * [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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))) in phi1 15.575 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) in phi1 15.575 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 15.575 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 15.575 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.575 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.575 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.575 * [backup-simplify]: Simplify 0.5 into 0.5 15.575 * [taylor]: Taking taylor expansion of phi1 in phi1 15.575 * [backup-simplify]: Simplify 0 into 0 15.575 * [backup-simplify]: Simplify 1 into 1 15.576 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.576 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.576 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 15.576 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.576 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.576 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.576 * [backup-simplify]: Simplify 0.5 into 0.5 15.576 * [taylor]: Taking taylor expansion of phi2 in phi1 15.576 * [backup-simplify]: Simplify phi2 into phi2 15.576 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.576 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.576 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.576 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.576 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.577 * [backup-simplify]: Simplify (- 0) into 0 15.577 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.577 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 15.577 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.577 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.577 * [backup-simplify]: Simplify lambda2 into lambda2 15.577 * [taylor]: Taking taylor expansion of phi1 in phi1 15.577 * [backup-simplify]: Simplify 0 into 0 15.577 * [backup-simplify]: Simplify 1 into 1 15.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.578 * [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)) 15.578 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.578 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 15.578 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.579 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 15.579 * [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)) 15.579 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2))) in phi1 15.579 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 15.579 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 15.579 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.579 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.579 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.579 * [backup-simplify]: Simplify 0.5 into 0.5 15.579 * [taylor]: Taking taylor expansion of phi1 in phi1 15.579 * [backup-simplify]: Simplify 0 into 0 15.579 * [backup-simplify]: Simplify 1 into 1 15.580 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.580 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.580 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 15.580 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.580 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.580 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.580 * [backup-simplify]: Simplify 0.5 into 0.5 15.580 * [taylor]: Taking taylor expansion of phi2 in phi1 15.580 * [backup-simplify]: Simplify phi2 into phi2 15.580 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.580 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.581 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.581 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.581 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.581 * [backup-simplify]: Simplify (- 0) into 0 15.581 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.581 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 15.581 * [taylor]: Taking taylor expansion of phi1 in phi1 15.581 * [backup-simplify]: Simplify 0 into 0 15.581 * [backup-simplify]: Simplify 1 into 1 15.581 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.581 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.581 * [backup-simplify]: Simplify lambda1 into lambda1 15.582 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.582 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.582 * [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)) 15.582 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.582 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 15.583 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 15.583 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 15.584 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 15.584 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))))) in phi1 15.584 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) in phi1 15.584 * [taylor]: Taking taylor expansion of 2 in phi1 15.584 * [backup-simplify]: Simplify 2 into 2 15.584 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1)) in phi1 15.584 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 15.584 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.584 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.584 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.584 * [backup-simplify]: Simplify 0.5 into 0.5 15.584 * [taylor]: Taking taylor expansion of phi1 in phi1 15.584 * [backup-simplify]: Simplify 0 into 0 15.584 * [backup-simplify]: Simplify 1 into 1 15.585 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.585 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.585 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 15.585 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.585 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.585 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.585 * [backup-simplify]: Simplify 0.5 into 0.5 15.585 * [taylor]: Taking taylor expansion of phi1 in phi1 15.585 * [backup-simplify]: Simplify 0 into 0 15.585 * [backup-simplify]: Simplify 1 into 1 15.585 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.586 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.586 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 15.586 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.586 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.586 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.586 * [backup-simplify]: Simplify 0.5 into 0.5 15.586 * [taylor]: Taking taylor expansion of phi2 in phi1 15.586 * [backup-simplify]: Simplify phi2 into phi2 15.586 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.586 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.586 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.586 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.586 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.586 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.586 * [backup-simplify]: Simplify 0.5 into 0.5 15.586 * [taylor]: Taking taylor expansion of phi2 in phi1 15.586 * [backup-simplify]: Simplify phi2 into phi2 15.586 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.586 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.586 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.586 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 15.587 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.587 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.587 * [backup-simplify]: Simplify lambda1 into lambda1 15.587 * [taylor]: Taking taylor expansion of phi1 in phi1 15.587 * [backup-simplify]: Simplify 0 into 0 15.587 * [backup-simplify]: Simplify 1 into 1 15.587 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.587 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.587 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.587 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.587 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.588 * [backup-simplify]: Simplify (- 0) into 0 15.588 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.588 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.589 * [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)))) 15.589 * [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))))) 15.589 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.589 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 15.589 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 15.590 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 15.590 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 15.590 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1)))) in phi1 15.591 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) in phi1 15.591 * [taylor]: Taking taylor expansion of 2 in phi1 15.591 * [backup-simplify]: Simplify 2 into 2 15.591 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1))) in phi1 15.591 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 15.591 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.591 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.591 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.591 * [backup-simplify]: Simplify 0.5 into 0.5 15.591 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.591 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.591 * [taylor]: Taking taylor expansion of phi1 in phi1 15.591 * [backup-simplify]: Simplify 0 into 0 15.591 * [backup-simplify]: Simplify 1 into 1 15.591 * [backup-simplify]: Simplify (/ 1 1) into 1 15.591 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.591 * [taylor]: Taking taylor expansion of phi2 in phi1 15.591 * [backup-simplify]: Simplify phi2 into phi2 15.592 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.592 * [backup-simplify]: Simplify (+ 1 0) into 1 15.592 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.593 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.593 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 lambda1)) in phi1 15.593 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.593 * [backup-simplify]: Simplify lambda2 into lambda2 15.593 * [taylor]: Taking taylor expansion of (* phi1 lambda1) in phi1 15.593 * [taylor]: Taking taylor expansion of phi1 in phi1 15.593 * [backup-simplify]: Simplify 0 into 0 15.593 * [backup-simplify]: Simplify 1 into 1 15.593 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.593 * [backup-simplify]: Simplify lambda1 into lambda1 15.594 * [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) 15.594 * [backup-simplify]: Simplify (* 0 lambda1) into 0 15.594 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.594 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 15.595 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 15.595 * [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)) 15.595 * [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 15.595 * [taylor]: Taking taylor expansion of 2 in phi1 15.595 * [backup-simplify]: Simplify 2 into 2 15.595 * [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 15.595 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 15.595 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.595 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.595 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.595 * [backup-simplify]: Simplify 0.5 into 0.5 15.595 * [taylor]: Taking taylor expansion of phi1 in phi1 15.595 * [backup-simplify]: Simplify 0 into 0 15.595 * [backup-simplify]: Simplify 1 into 1 15.596 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.596 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.596 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 15.596 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.596 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.596 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.596 * [backup-simplify]: Simplify 0.5 into 0.5 15.596 * [taylor]: Taking taylor expansion of phi1 in phi1 15.596 * [backup-simplify]: Simplify 0 into 0 15.596 * [backup-simplify]: Simplify 1 into 1 15.597 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.597 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.597 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 15.597 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.597 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.597 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.597 * [backup-simplify]: Simplify 0.5 into 0.5 15.597 * [taylor]: Taking taylor expansion of phi2 in phi1 15.597 * [backup-simplify]: Simplify phi2 into phi2 15.597 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.597 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.597 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.597 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.597 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.597 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.597 * [backup-simplify]: Simplify 0.5 into 0.5 15.597 * [taylor]: Taking taylor expansion of phi2 in phi1 15.598 * [backup-simplify]: Simplify phi2 into phi2 15.598 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.598 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.598 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.598 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 15.598 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.598 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.598 * [backup-simplify]: Simplify lambda2 into lambda2 15.598 * [taylor]: Taking taylor expansion of phi1 in phi1 15.598 * [backup-simplify]: Simplify 0 into 0 15.598 * [backup-simplify]: Simplify 1 into 1 15.598 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.598 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.598 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.598 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.599 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.599 * [backup-simplify]: Simplify (- 0) into 0 15.599 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.599 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.599 * [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)))) 15.600 * [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))))) 15.600 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.600 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 15.600 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.600 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 15.601 * [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)) 15.601 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) 15.602 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 15.603 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) 15.604 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) 15.604 * [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))) 15.604 * [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))) 15.605 * [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)))) 15.606 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (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))))) 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) 15.607 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 15.610 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 15.617 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) 15.617 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda1 15.617 * [taylor]: Taking taylor expansion of 1/2 in lambda1 15.617 * [backup-simplify]: Simplify 1/2 into 1/2 15.617 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1 15.617 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1 15.617 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 15.617 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 15.617 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 15.617 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.617 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.617 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.618 * [backup-simplify]: Simplify 0.5 into 0.5 15.618 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.618 * [backup-simplify]: Simplify phi1 into phi1 15.618 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.618 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.618 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.618 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.618 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 15.618 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.618 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.618 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.618 * [backup-simplify]: Simplify 0.5 into 0.5 15.618 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.618 * [backup-simplify]: Simplify phi2 into phi2 15.618 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.618 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.618 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.618 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.618 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.618 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.618 * [backup-simplify]: Simplify lambda2 into lambda2 15.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.619 * [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)) 15.619 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.619 * [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)) 15.619 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 15.619 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 15.619 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 15.619 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 15.619 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.619 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.619 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.619 * [backup-simplify]: Simplify 0.5 into 0.5 15.619 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.619 * [backup-simplify]: Simplify phi1 into phi1 15.619 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.620 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.620 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.620 * [backup-simplify]: Simplify (- 0) into 0 15.620 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.620 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 15.620 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.620 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.620 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.620 * [backup-simplify]: Simplify 0.5 into 0.5 15.620 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.620 * [backup-simplify]: Simplify phi2 into phi2 15.620 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.620 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.621 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.621 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.621 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.621 * [backup-simplify]: Simplify (- 0) into 0 15.621 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.621 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.621 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.621 * [backup-simplify]: Simplify 0 into 0 15.621 * [backup-simplify]: Simplify 1 into 1 15.621 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.621 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.621 * [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)) 15.622 * [backup-simplify]: Simplify (* 1 1) into 1 15.622 * [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)) 15.622 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 15.622 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 15.622 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 15.622 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 15.622 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.622 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.622 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.622 * [backup-simplify]: Simplify 0.5 into 0.5 15.622 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.622 * [backup-simplify]: Simplify phi1 into phi1 15.622 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.622 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.622 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.623 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.623 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.623 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.623 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 15.623 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.623 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.623 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.623 * [backup-simplify]: Simplify 0.5 into 0.5 15.623 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.623 * [backup-simplify]: Simplify phi2 into phi2 15.623 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.623 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.623 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.623 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.623 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.623 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.623 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.623 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.623 * [backup-simplify]: Simplify 0 into 0 15.623 * [backup-simplify]: Simplify 1 into 1 15.623 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.623 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.624 * [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)) 15.624 * [backup-simplify]: Simplify (* 1 1) into 1 15.624 * [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)) 15.624 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 15.624 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 15.624 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 15.624 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.624 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.624 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.624 * [backup-simplify]: Simplify 0.5 into 0.5 15.624 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.624 * [backup-simplify]: Simplify phi1 into phi1 15.624 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.624 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.624 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.625 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.625 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.625 * [backup-simplify]: Simplify (- 0) into 0 15.625 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.625 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 15.625 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.625 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.625 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.625 * [backup-simplify]: Simplify 0.5 into 0.5 15.625 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.625 * [backup-simplify]: Simplify phi2 into phi2 15.625 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.625 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.625 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.625 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.625 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.626 * [backup-simplify]: Simplify (- 0) into 0 15.626 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.626 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.626 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.626 * [backup-simplify]: Simplify lambda2 into lambda2 15.626 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.626 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.626 * [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)) 15.626 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.626 * [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)) 15.626 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1 15.626 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 15.627 * [taylor]: Taking taylor expansion of 2 in lambda1 15.627 * [backup-simplify]: Simplify 2 into 2 15.627 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 15.627 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.627 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.627 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.627 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.627 * [backup-simplify]: Simplify 0.5 into 0.5 15.627 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.627 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.627 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.627 * [backup-simplify]: Simplify phi1 into phi1 15.627 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.627 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.627 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.627 * [backup-simplify]: Simplify phi2 into phi2 15.627 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.627 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.627 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.627 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.627 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.627 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.627 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.628 * [backup-simplify]: Simplify (- 0) into 0 15.628 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.628 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.628 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.628 * [backup-simplify]: Simplify lambda2 into lambda2 15.628 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.628 * [backup-simplify]: Simplify 0 into 0 15.628 * [backup-simplify]: Simplify 1 into 1 15.628 * [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) 15.628 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.628 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 15.629 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 15.629 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1 15.629 * [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 15.629 * [taylor]: Taking taylor expansion of 2 in lambda1 15.629 * [backup-simplify]: Simplify 2 into 2 15.629 * [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 15.629 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 15.629 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.629 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.629 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.629 * [backup-simplify]: Simplify 0.5 into 0.5 15.629 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.629 * [backup-simplify]: Simplify phi1 into phi1 15.629 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.629 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.629 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.629 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 15.629 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.629 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.629 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.629 * [backup-simplify]: Simplify 0.5 into 0.5 15.629 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.629 * [backup-simplify]: Simplify phi1 into phi1 15.629 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.629 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.629 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.629 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 15.629 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.629 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.629 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.629 * [backup-simplify]: Simplify 0.5 into 0.5 15.629 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.629 * [backup-simplify]: Simplify phi2 into phi2 15.630 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.630 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.630 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.630 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.630 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.630 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.630 * [backup-simplify]: Simplify 0.5 into 0.5 15.630 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.630 * [backup-simplify]: Simplify phi2 into phi2 15.630 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.630 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.630 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.630 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.630 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.630 * [backup-simplify]: Simplify lambda2 into lambda2 15.630 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.630 * [backup-simplify]: Simplify (- 0) into 0 15.630 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.631 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.631 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.631 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.631 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.631 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.631 * [backup-simplify]: Simplify (- 0) into 0 15.631 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.631 * [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)))) 15.632 * [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))))) 15.632 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.632 * [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)) 15.632 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1 15.632 * [taylor]: Taking taylor expansion of 2 in lambda1 15.632 * [backup-simplify]: Simplify 2 into 2 15.632 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1 15.632 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 15.632 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.632 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.632 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.632 * [backup-simplify]: Simplify 0.5 into 0.5 15.632 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.632 * [backup-simplify]: Simplify phi1 into phi1 15.632 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.632 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.632 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.632 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 15.632 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.632 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.632 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.632 * [backup-simplify]: Simplify 0.5 into 0.5 15.632 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.632 * [backup-simplify]: Simplify phi1 into phi1 15.633 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.633 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.633 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.633 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 15.633 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.633 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.633 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.633 * [backup-simplify]: Simplify 0.5 into 0.5 15.633 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.633 * [backup-simplify]: Simplify phi2 into phi2 15.633 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.633 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.633 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.633 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.633 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.633 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.633 * [backup-simplify]: Simplify 0.5 into 0.5 15.633 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.633 * [backup-simplify]: Simplify phi2 into phi2 15.633 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.633 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.633 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.633 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.633 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.633 * [backup-simplify]: Simplify 0 into 0 15.633 * [backup-simplify]: Simplify 1 into 1 15.633 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.633 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.634 * [backup-simplify]: Simplify (- 0) into 0 15.634 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.634 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.634 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.634 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.634 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.634 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.634 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.634 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.634 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.634 * [backup-simplify]: Simplify (- 0) into 0 15.635 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.635 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.635 * [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)))) 15.635 * [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))))) 15.635 * [backup-simplify]: Simplify (* 1 1) into 1 15.635 * [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))))) 15.636 * [backup-simplify]: Simplify (+ 0) into 0 15.636 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.637 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.637 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.638 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.638 * [backup-simplify]: Simplify (- 0) into 0 15.639 * [backup-simplify]: Simplify (+ 0 0) into 0 15.639 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.639 * [backup-simplify]: Simplify (+ 0) into 0 15.640 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.640 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.641 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.641 * [backup-simplify]: Simplify (- 0) into 0 15.642 * [backup-simplify]: Simplify (+ 0 0) into 0 15.642 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.642 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.643 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.644 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 15.645 * [backup-simplify]: Simplify (+ 0) into 0 15.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.645 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.647 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.647 * [backup-simplify]: Simplify (+ 0 0) into 0 15.648 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.648 * [backup-simplify]: Simplify (+ 0) into 0 15.649 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.649 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.650 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.650 * [backup-simplify]: Simplify (+ 0 0) into 0 15.651 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.651 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.652 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.653 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 15.653 * [backup-simplify]: Simplify (+ 0 0) into 0 15.654 * [backup-simplify]: Simplify (+ 0 0) into 0 15.654 * [backup-simplify]: Simplify (+ 0 0) into 0 15.654 * [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)) 15.655 * [backup-simplify]: Simplify (+ 0) into 0 15.655 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.655 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.656 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.657 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.657 * [backup-simplify]: Simplify (- 0) into 0 15.657 * [backup-simplify]: Simplify (+ 0 0) into 0 15.658 * [backup-simplify]: Simplify (+ 0) into 0 15.658 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.658 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.660 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.660 * [backup-simplify]: Simplify (+ 0 0) into 0 15.660 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.660 * [backup-simplify]: Simplify (+ 0) into 0 15.661 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.661 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.662 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.663 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.663 * [backup-simplify]: Simplify (+ 0 0) into 0 15.663 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.664 * [backup-simplify]: Simplify (+ 0) into 0 15.664 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.664 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.665 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.666 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.666 * [backup-simplify]: Simplify (- 0) into 0 15.666 * [backup-simplify]: Simplify (+ 0 0) into 0 15.667 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.667 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.669 * [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 15.670 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.670 * [backup-simplify]: Simplify (+ 0 0) into 0 15.670 * [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)) 15.671 * [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))) 15.671 * [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))) 15.672 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 0) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 15.673 * [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))) 15.674 * [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))) 15.674 * [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)))))) 15.675 * [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)))))) 15.675 * [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)))))) 15.676 * [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))))))) 15.677 * [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))))))) 15.679 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 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) lambda2)) 15.679 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 15.679 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 15.679 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 15.679 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.679 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.679 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.679 * [backup-simplify]: Simplify 0.5 into 0.5 15.679 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.679 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.679 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.679 * [backup-simplify]: Simplify phi1 into phi1 15.679 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.679 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.679 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.679 * [backup-simplify]: Simplify phi2 into phi2 15.679 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.680 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.680 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.680 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.680 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.680 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.680 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.681 * [backup-simplify]: Simplify (- 0) into 0 15.681 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.681 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.681 * [backup-simplify]: Simplify 0 into 0 15.681 * [backup-simplify]: Simplify 1 into 1 15.682 * [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) 15.682 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.682 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 15.683 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 15.684 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) 15.686 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) 15.688 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) 15.688 * [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))) 15.689 * [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))) 15.689 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) 15.690 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) 15.692 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) 15.695 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 15.700 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 15.705 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) 15.705 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda1 15.705 * [taylor]: Taking taylor expansion of 1/2 in lambda1 15.705 * [backup-simplify]: Simplify 1/2 into 1/2 15.705 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1 15.705 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1 15.705 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 15.705 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 15.706 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 15.706 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.706 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.706 * [backup-simplify]: Simplify 0.5 into 0.5 15.706 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.706 * [backup-simplify]: Simplify phi1 into phi1 15.706 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.706 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.706 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.706 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.706 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 15.706 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.706 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.706 * [backup-simplify]: Simplify 0.5 into 0.5 15.706 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.706 * [backup-simplify]: Simplify phi2 into phi2 15.706 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.706 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.706 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.706 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.706 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.707 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.707 * [backup-simplify]: Simplify lambda2 into lambda2 15.707 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.707 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.707 * [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)) 15.707 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.707 * [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)) 15.707 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 15.707 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 15.707 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 15.707 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 15.707 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.707 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.707 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.707 * [backup-simplify]: Simplify 0.5 into 0.5 15.707 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.707 * [backup-simplify]: Simplify phi1 into phi1 15.707 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.708 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.708 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.708 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.708 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.708 * [backup-simplify]: Simplify (- 0) into 0 15.708 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.708 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 15.708 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.708 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.708 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.708 * [backup-simplify]: Simplify 0.5 into 0.5 15.708 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.708 * [backup-simplify]: Simplify phi2 into phi2 15.708 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.708 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.708 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.709 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.709 * [backup-simplify]: Simplify (- 0) into 0 15.709 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.709 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.709 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.709 * [backup-simplify]: Simplify 0 into 0 15.709 * [backup-simplify]: Simplify 1 into 1 15.709 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.709 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.709 * [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)) 15.710 * [backup-simplify]: Simplify (* 1 1) into 1 15.710 * [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)) 15.710 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 15.710 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 15.710 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 15.710 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 15.710 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.710 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.710 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.710 * [backup-simplify]: Simplify 0.5 into 0.5 15.710 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.710 * [backup-simplify]: Simplify phi1 into phi1 15.710 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.710 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.710 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.710 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.710 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.710 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.710 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 15.711 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.711 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.711 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.711 * [backup-simplify]: Simplify 0.5 into 0.5 15.711 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.711 * [backup-simplify]: Simplify phi2 into phi2 15.711 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.711 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.711 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.711 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.711 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.711 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.711 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.711 * [backup-simplify]: Simplify 0 into 0 15.711 * [backup-simplify]: Simplify 1 into 1 15.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.711 * [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)) 15.712 * [backup-simplify]: Simplify (* 1 1) into 1 15.712 * [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)) 15.712 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 15.712 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 15.712 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 15.712 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.712 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.712 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.712 * [backup-simplify]: Simplify 0.5 into 0.5 15.712 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.712 * [backup-simplify]: Simplify phi1 into phi1 15.712 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.712 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.712 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.712 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.712 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.713 * [backup-simplify]: Simplify (- 0) into 0 15.713 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.713 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 15.713 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.713 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.713 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.713 * [backup-simplify]: Simplify 0.5 into 0.5 15.713 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.713 * [backup-simplify]: Simplify phi2 into phi2 15.713 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.713 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.713 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.713 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.713 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.713 * [backup-simplify]: Simplify (- 0) into 0 15.713 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.713 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.713 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.714 * [backup-simplify]: Simplify lambda2 into lambda2 15.714 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.714 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.714 * [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)) 15.714 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.714 * [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)) 15.714 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1 15.714 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 15.714 * [taylor]: Taking taylor expansion of 2 in lambda1 15.714 * [backup-simplify]: Simplify 2 into 2 15.714 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 15.714 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.714 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.714 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.714 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.714 * [backup-simplify]: Simplify 0.5 into 0.5 15.714 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.714 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.714 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.715 * [backup-simplify]: Simplify phi1 into phi1 15.715 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.715 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.715 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.715 * [backup-simplify]: Simplify phi2 into phi2 15.715 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.715 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.715 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.715 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.715 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.715 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.715 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.716 * [backup-simplify]: Simplify (- 0) into 0 15.716 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.716 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.716 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.716 * [backup-simplify]: Simplify lambda2 into lambda2 15.716 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.716 * [backup-simplify]: Simplify 0 into 0 15.716 * [backup-simplify]: Simplify 1 into 1 15.716 * [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) 15.716 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.716 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 15.716 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 15.717 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1 15.717 * [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 15.717 * [taylor]: Taking taylor expansion of 2 in lambda1 15.717 * [backup-simplify]: Simplify 2 into 2 15.717 * [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 15.717 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 15.717 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.717 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.717 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.717 * [backup-simplify]: Simplify 0.5 into 0.5 15.717 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.717 * [backup-simplify]: Simplify phi1 into phi1 15.717 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.717 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.717 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.717 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 15.717 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.717 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.717 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.717 * [backup-simplify]: Simplify 0.5 into 0.5 15.717 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.717 * [backup-simplify]: Simplify phi1 into phi1 15.717 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.717 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.717 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.717 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 15.717 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.717 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.717 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.717 * [backup-simplify]: Simplify 0.5 into 0.5 15.717 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.717 * [backup-simplify]: Simplify phi2 into phi2 15.717 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.717 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.717 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.717 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.717 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.718 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.718 * [backup-simplify]: Simplify 0.5 into 0.5 15.718 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.718 * [backup-simplify]: Simplify phi2 into phi2 15.718 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.718 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.718 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.718 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.718 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.718 * [backup-simplify]: Simplify lambda2 into lambda2 15.718 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.718 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.718 * [backup-simplify]: Simplify (- 0) into 0 15.718 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.718 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.718 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.718 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.718 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.719 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.719 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.719 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.719 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.719 * [backup-simplify]: Simplify (- 0) into 0 15.719 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.719 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.719 * [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)))) 15.719 * [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))))) 15.720 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.720 * [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)) 15.720 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1 15.720 * [taylor]: Taking taylor expansion of 2 in lambda1 15.720 * [backup-simplify]: Simplify 2 into 2 15.720 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1 15.720 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 15.720 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.720 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.720 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.720 * [backup-simplify]: Simplify 0.5 into 0.5 15.720 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.720 * [backup-simplify]: Simplify phi1 into phi1 15.720 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.720 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.720 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.720 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 15.720 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.720 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.720 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.720 * [backup-simplify]: Simplify 0.5 into 0.5 15.720 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.720 * [backup-simplify]: Simplify phi1 into phi1 15.720 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.720 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.720 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.721 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 15.721 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.721 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.721 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.721 * [backup-simplify]: Simplify 0.5 into 0.5 15.721 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.721 * [backup-simplify]: Simplify phi2 into phi2 15.721 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.721 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.721 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.721 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.721 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.721 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.721 * [backup-simplify]: Simplify 0.5 into 0.5 15.721 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.721 * [backup-simplify]: Simplify phi2 into phi2 15.721 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.721 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.721 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.721 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.721 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.721 * [backup-simplify]: Simplify 0 into 0 15.721 * [backup-simplify]: Simplify 1 into 1 15.721 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.721 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.722 * [backup-simplify]: Simplify (- 0) into 0 15.722 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.722 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.722 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.722 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.722 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.722 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.722 * [backup-simplify]: Simplify (- 0) into 0 15.723 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.723 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.723 * [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)))) 15.723 * [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))))) 15.723 * [backup-simplify]: Simplify (* 1 1) into 1 15.723 * [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))))) 15.724 * [backup-simplify]: Simplify (+ 0) into 0 15.724 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.724 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.725 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.725 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.725 * [backup-simplify]: Simplify (- 0) into 0 15.725 * [backup-simplify]: Simplify (+ 0 0) into 0 15.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.726 * [backup-simplify]: Simplify (+ 0) into 0 15.726 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.726 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.727 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.727 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.727 * [backup-simplify]: Simplify (- 0) into 0 15.727 * [backup-simplify]: Simplify (+ 0 0) into 0 15.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.728 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.728 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.729 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 15.729 * [backup-simplify]: Simplify (+ 0) into 0 15.729 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.730 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.730 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.730 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.731 * [backup-simplify]: Simplify (+ 0 0) into 0 15.731 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.731 * [backup-simplify]: Simplify (+ 0) into 0 15.731 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.731 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.732 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.732 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.732 * [backup-simplify]: Simplify (+ 0 0) into 0 15.732 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.733 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.733 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.734 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 15.734 * [backup-simplify]: Simplify (+ 0 0) into 0 15.734 * [backup-simplify]: Simplify (+ 0 0) into 0 15.734 * [backup-simplify]: Simplify (+ 0 0) into 0 15.735 * [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)) 15.735 * [backup-simplify]: Simplify (+ 0) into 0 15.735 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.735 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.736 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.736 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.736 * [backup-simplify]: Simplify (- 0) into 0 15.737 * [backup-simplify]: Simplify (+ 0 0) into 0 15.737 * [backup-simplify]: Simplify (+ 0) into 0 15.737 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.737 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.738 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.738 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.738 * [backup-simplify]: Simplify (+ 0 0) into 0 15.738 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.739 * [backup-simplify]: Simplify (+ 0) into 0 15.739 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.739 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.740 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.740 * [backup-simplify]: Simplify (+ 0 0) into 0 15.740 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.740 * [backup-simplify]: Simplify (+ 0) into 0 15.741 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.741 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.741 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.742 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.742 * [backup-simplify]: Simplify (- 0) into 0 15.742 * [backup-simplify]: Simplify (+ 0 0) into 0 15.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.743 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.743 * [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 15.744 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.744 * [backup-simplify]: Simplify (+ 0 0) into 0 15.745 * [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)) 15.745 * [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))) 15.745 * [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))) 15.745 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 0) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 15.746 * [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))) 15.746 * [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))) 15.747 * [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)))))) 15.747 * [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)))))) 15.747 * [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)))))) 15.747 * [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))))))) 15.748 * [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))))))) 15.749 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 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) lambda2)) 15.749 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 15.749 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 15.749 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 15.749 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.749 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.749 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.749 * [backup-simplify]: Simplify 0.5 into 0.5 15.749 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.749 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.749 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.749 * [backup-simplify]: Simplify phi1 into phi1 15.749 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.749 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.749 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.749 * [backup-simplify]: Simplify phi2 into phi2 15.749 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.749 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.749 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.750 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.750 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.750 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.750 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.753 * [backup-simplify]: Simplify (- 0) into 0 15.754 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.754 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.754 * [backup-simplify]: Simplify 0 into 0 15.754 * [backup-simplify]: Simplify 1 into 1 15.754 * [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) 15.754 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.754 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 15.755 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 15.755 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 15.755 * [taylor]: Taking taylor expansion of 0 in lambda1 15.756 * [backup-simplify]: Simplify 0 into 0 15.756 * [taylor]: Taking taylor expansion of 0 in lambda1 15.756 * [backup-simplify]: Simplify 0 into 0 15.756 * [taylor]: Taking taylor expansion of 0 in lambda2 15.756 * [backup-simplify]: Simplify 0 into 0 15.756 * [taylor]: Taking taylor expansion of 0 in lambda2 15.756 * [backup-simplify]: Simplify 0 into 0 15.756 * [taylor]: Taking taylor expansion of 0 in lambda2 15.756 * [backup-simplify]: Simplify 0 into 0 15.756 * [taylor]: Taking taylor expansion of 0 in lambda2 15.756 * [backup-simplify]: Simplify 0 into 0 15.756 * [backup-simplify]: Simplify -1 into -1 15.757 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* (/ 1 (/ 1 phi1)) 1)))) (+ (* (- (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2)) (* (/ 1 (/ 1 lambda2)) (* (/ 1 (/ 1 lambda1)) (* 1 (/ 1 phi2))))) (* (- (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2)) (* (/ 1 (/ 1 lambda2)) (* (/ 1 (/ 1 lambda1)) (* (/ 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))) 15.759 * [backup-simplify]: Simplify (sqrt (+ (- (* (pow (- (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5))) (* (sin (* 0.5 (/ 1 (- phi2)))) (sin (* 0.5 (/ 1 (- phi1)))))) 2) (+ (pow (/ 1 (- lambda1)) 2) (pow (/ 1 (- lambda2)) 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)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) 15.759 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in (phi2 phi1 lambda1 lambda2) around 0 15.759 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in lambda2 15.759 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in lambda2 15.759 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in lambda2 15.759 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 15.759 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.759 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.759 * [backup-simplify]: Simplify phi2 into phi2 15.760 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.760 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.760 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda2 15.760 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 15.760 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.760 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.760 * [backup-simplify]: Simplify phi1 into phi1 15.760 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.760 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.760 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda2 15.760 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2 15.760 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 15.760 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 15.760 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 15.760 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 15.760 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.760 * [backup-simplify]: Simplify -0.5 into -0.5 15.760 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.760 * [backup-simplify]: Simplify phi2 into phi2 15.760 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.760 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.760 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.760 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.760 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.760 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.760 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 15.761 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 15.761 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 15.761 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.761 * [backup-simplify]: Simplify -0.5 into -0.5 15.761 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.761 * [backup-simplify]: Simplify phi1 into phi1 15.761 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.761 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.761 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.761 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.761 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 15.761 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.761 * [backup-simplify]: Simplify lambda1 into lambda1 15.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 15.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 15.761 * [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)) 15.761 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.762 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 15.762 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2 15.762 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 15.762 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 15.762 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 15.762 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 15.762 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 15.762 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.762 * [backup-simplify]: Simplify -0.5 into -0.5 15.762 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.762 * [backup-simplify]: Simplify phi2 into phi2 15.762 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.762 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.762 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.762 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.762 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.763 * [backup-simplify]: Simplify (- 0) into 0 15.763 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.763 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 15.763 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 15.763 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 15.763 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.763 * [backup-simplify]: Simplify -0.5 into -0.5 15.763 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.763 * [backup-simplify]: Simplify phi1 into phi1 15.763 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.763 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.763 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.763 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.763 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.763 * [backup-simplify]: Simplify (- 0) into 0 15.763 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.763 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.763 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.763 * [backup-simplify]: Simplify 0 into 0 15.763 * [backup-simplify]: Simplify 1 into 1 15.764 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 15.764 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 15.764 * [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)) 15.764 * [backup-simplify]: Simplify (* 1 1) into 1 15.764 * [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)) 15.764 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2 15.764 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2 15.764 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 15.764 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 15.764 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 15.765 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 15.765 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.765 * [backup-simplify]: Simplify -0.5 into -0.5 15.765 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.765 * [backup-simplify]: Simplify phi2 into phi2 15.765 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.765 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.765 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.765 * [backup-simplify]: Simplify (- 0) into 0 15.765 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.765 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 15.765 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 15.765 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 15.765 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.765 * [backup-simplify]: Simplify -0.5 into -0.5 15.765 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.765 * [backup-simplify]: Simplify phi1 into phi1 15.765 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.765 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.765 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.766 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.766 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.766 * [backup-simplify]: Simplify (- 0) into 0 15.766 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.766 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 15.766 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.766 * [backup-simplify]: Simplify lambda1 into lambda1 15.766 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 15.766 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 15.766 * [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)) 15.766 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.767 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 15.767 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 15.767 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 15.767 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 15.767 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 15.767 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 15.767 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.767 * [backup-simplify]: Simplify -0.5 into -0.5 15.767 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.767 * [backup-simplify]: Simplify phi2 into phi2 15.767 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.767 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.767 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.767 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.767 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.767 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.767 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 15.767 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 15.767 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 15.767 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.767 * [backup-simplify]: Simplify -0.5 into -0.5 15.767 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.767 * [backup-simplify]: Simplify phi1 into phi1 15.767 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.767 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.768 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.768 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.768 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.768 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.768 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.768 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.768 * [backup-simplify]: Simplify 0 into 0 15.768 * [backup-simplify]: Simplify 1 into 1 15.768 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 15.768 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 15.768 * [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)) 15.769 * [backup-simplify]: Simplify (* 1 1) into 1 15.769 * [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)) 15.769 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in lambda2 15.769 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 15.769 * [taylor]: Taking taylor expansion of 2 in lambda2 15.769 * [backup-simplify]: Simplify 2 into 2 15.769 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 15.769 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 15.769 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.769 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.769 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.769 * [backup-simplify]: Simplify -0.5 into -0.5 15.769 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.769 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.769 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.769 * [backup-simplify]: Simplify phi1 into phi1 15.769 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.769 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.769 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.769 * [backup-simplify]: Simplify phi2 into phi2 15.769 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.769 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.769 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.770 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.770 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.770 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.770 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.770 * [backup-simplify]: Simplify (- 0) into 0 15.770 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.770 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 15.770 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.770 * [backup-simplify]: Simplify 0 into 0 15.770 * [backup-simplify]: Simplify 1 into 1 15.770 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.770 * [backup-simplify]: Simplify lambda1 into lambda1 15.771 * [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) 15.771 * [backup-simplify]: Simplify (* 0 lambda1) into 0 15.771 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 15.771 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 15.771 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in lambda2 15.771 * [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 15.771 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2 15.771 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 15.771 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 15.771 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.772 * [backup-simplify]: Simplify -0.5 into -0.5 15.772 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.772 * [backup-simplify]: Simplify phi1 into phi1 15.772 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.772 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.772 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.772 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2 15.772 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 15.772 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 15.772 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.772 * [backup-simplify]: Simplify -0.5 into -0.5 15.772 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.772 * [backup-simplify]: Simplify phi2 into phi2 15.772 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.772 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.772 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.772 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 15.772 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 15.772 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 15.772 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.772 * [backup-simplify]: Simplify -0.5 into -0.5 15.772 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.772 * [backup-simplify]: Simplify phi2 into phi2 15.772 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.772 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.772 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.772 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 15.772 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 15.772 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.772 * [backup-simplify]: Simplify -0.5 into -0.5 15.772 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.772 * [backup-simplify]: Simplify phi1 into phi1 15.773 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.773 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.773 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.773 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.773 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.773 * [backup-simplify]: Simplify 0 into 0 15.773 * [backup-simplify]: Simplify 1 into 1 15.773 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.773 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.773 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.773 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.773 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.774 * [backup-simplify]: Simplify (- 0) into 0 15.774 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.774 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.774 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.774 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.774 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.774 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.774 * [backup-simplify]: Simplify (- 0) into 0 15.774 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.774 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 15.774 * [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)))) 15.775 * [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))))) 15.775 * [backup-simplify]: Simplify (* 1 1) into 1 15.775 * [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))))) 15.775 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in lambda2 15.775 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2 15.775 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 15.775 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 15.775 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 15.775 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.775 * [backup-simplify]: Simplify -0.5 into -0.5 15.775 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.775 * [backup-simplify]: Simplify phi1 into phi1 15.775 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.775 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.776 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.776 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 15.776 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 15.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 15.776 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.776 * [backup-simplify]: Simplify -0.5 into -0.5 15.776 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.776 * [backup-simplify]: Simplify phi2 into phi2 15.776 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.776 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.776 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.776 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 15.776 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 15.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 15.776 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.776 * [backup-simplify]: Simplify -0.5 into -0.5 15.776 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.776 * [backup-simplify]: Simplify phi2 into phi2 15.776 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.776 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.776 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.776 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 15.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 15.776 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.776 * [backup-simplify]: Simplify -0.5 into -0.5 15.776 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.776 * [backup-simplify]: Simplify phi1 into phi1 15.776 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.776 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.776 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.776 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 15.776 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.776 * [backup-simplify]: Simplify lambda1 into lambda1 15.776 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.777 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.777 * [backup-simplify]: Simplify (- 0) into 0 15.777 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.777 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.777 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.777 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.777 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.777 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.777 * [backup-simplify]: Simplify (- 0) into 0 15.777 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.778 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 15.778 * [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)))) 15.778 * [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))))) 15.778 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.778 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) 15.778 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in lambda2 15.779 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 15.779 * [taylor]: Taking taylor expansion of 2 in lambda2 15.779 * [backup-simplify]: Simplify 2 into 2 15.779 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 15.779 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 15.779 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.779 * [backup-simplify]: Simplify phi2 into phi2 15.779 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.779 * [backup-simplify]: Simplify phi1 into phi1 15.779 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 15.779 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 15.779 * [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 lambda1 2))) in lambda2 15.779 * [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 15.779 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 15.779 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 15.779 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 15.779 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.779 * [backup-simplify]: Simplify -0.5 into -0.5 15.779 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.779 * [backup-simplify]: Simplify phi1 into phi1 15.779 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.779 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.779 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.779 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 15.779 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 15.779 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 15.779 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.779 * [backup-simplify]: Simplify -0.5 into -0.5 15.779 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.779 * [backup-simplify]: Simplify phi2 into phi2 15.779 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.779 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.779 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.779 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 15.779 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 15.779 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 15.779 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.779 * [backup-simplify]: Simplify -0.5 into -0.5 15.779 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.780 * [backup-simplify]: Simplify phi2 into phi2 15.780 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.780 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.780 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 15.780 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 15.780 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.780 * [backup-simplify]: Simplify -0.5 into -0.5 15.780 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.780 * [backup-simplify]: Simplify phi1 into phi1 15.780 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.780 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.780 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.780 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.780 * [backup-simplify]: Simplify 0 into 0 15.780 * [backup-simplify]: Simplify 1 into 1 15.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.780 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.780 * [backup-simplify]: Simplify (- 0) into 0 15.781 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.781 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.781 * [backup-simplify]: Simplify (- 0) into 0 15.781 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.781 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 15.782 * [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)))) 15.782 * [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))))) 15.782 * [backup-simplify]: Simplify (* 1 1) into 1 15.782 * [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))))) 15.782 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2 15.782 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2 15.782 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 15.782 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 15.782 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.782 * [backup-simplify]: Simplify -0.5 into -0.5 15.782 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.782 * [backup-simplify]: Simplify phi1 into phi1 15.782 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.783 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.783 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.783 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2 15.783 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 15.783 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 15.783 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.783 * [backup-simplify]: Simplify -0.5 into -0.5 15.783 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.783 * [backup-simplify]: Simplify phi2 into phi2 15.783 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.783 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.783 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.783 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 15.783 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 15.783 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 15.783 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.783 * [backup-simplify]: Simplify -0.5 into -0.5 15.783 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.783 * [backup-simplify]: Simplify phi2 into phi2 15.783 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.783 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.783 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.783 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 15.783 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 15.783 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.783 * [backup-simplify]: Simplify -0.5 into -0.5 15.783 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.783 * [backup-simplify]: Simplify phi1 into phi1 15.783 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.783 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.783 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.783 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 15.783 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.784 * [backup-simplify]: Simplify lambda1 into lambda1 15.784 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.784 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.784 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.784 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.784 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.784 * [backup-simplify]: Simplify (- 0) into 0 15.784 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.784 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.784 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.784 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.784 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.784 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.785 * [backup-simplify]: Simplify (- 0) into 0 15.785 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.785 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 15.785 * [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)))) 15.785 * [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))))) 15.785 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.786 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 15.786 * [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)) 15.786 * [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))) 15.787 * [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))) 15.787 * [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))) 15.788 * [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))) 15.788 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 15.788 * [backup-simplify]: Simplify (+ 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 15.788 * [backup-simplify]: Simplify (+ 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 15.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -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)))))) 15.789 * [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)))))) 15.790 * [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))))))) 15.791 * [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))))))) 15.792 * [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)))))))) 15.792 * [backup-simplify]: Simplify (+ 0) into 0 15.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 15.793 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 15.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.793 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 15.794 * [backup-simplify]: Simplify (- 0) into 0 15.794 * [backup-simplify]: Simplify (+ 0 0) into 0 15.794 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 15.794 * [backup-simplify]: Simplify (+ 0) into 0 15.795 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 15.795 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 15.795 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.795 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 15.796 * [backup-simplify]: Simplify (- 0) into 0 15.796 * [backup-simplify]: Simplify (+ 0 0) into 0 15.796 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 15.796 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 15.797 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.797 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 15.798 * [backup-simplify]: Simplify (+ 0) into 0 15.798 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 15.798 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 15.798 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 15.799 * [backup-simplify]: Simplify (+ 0 0) into 0 15.799 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 15.799 * [backup-simplify]: Simplify (+ 0) into 0 15.800 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 15.800 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 15.800 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.801 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 15.801 * [backup-simplify]: Simplify (+ 0 0) into 0 15.801 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 15.801 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 15.802 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.802 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 15.803 * [backup-simplify]: Simplify (+ 0 0) into 0 15.803 * [backup-simplify]: Simplify (+ 0 0) into 0 15.803 * [backup-simplify]: Simplify (+ 0 0) into 0 15.803 * [backup-simplify]: Simplify (+ 0 0) into 0 15.803 * [backup-simplify]: Simplify (+ 0 0) into 0 15.804 * [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)) 15.804 * [backup-simplify]: Simplify (+ 0) into 0 15.804 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 15.804 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 15.805 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.805 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 15.805 * [backup-simplify]: Simplify (- 0) into 0 15.806 * [backup-simplify]: Simplify (+ 0 0) into 0 15.806 * [backup-simplify]: Simplify (+ 0) into 0 15.806 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 15.806 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 15.807 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 15.808 * [backup-simplify]: Simplify (+ 0 0) into 0 15.808 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 15.808 * [backup-simplify]: Simplify (+ 0) into 0 15.808 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 15.809 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 15.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.810 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 15.810 * [backup-simplify]: Simplify (- 0) into 0 15.810 * [backup-simplify]: Simplify (+ 0 0) into 0 15.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 15.811 * [backup-simplify]: Simplify (+ 0) into 0 15.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 15.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 15.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 15.812 * [backup-simplify]: Simplify (+ 0 0) into 0 15.812 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 15.813 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.813 * [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 15.814 * [backup-simplify]: Simplify (+ 0) into 0 15.814 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 15.814 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 15.814 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.815 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 15.815 * [backup-simplify]: Simplify (+ 0 0) into 0 15.815 * [backup-simplify]: Simplify (+ 0) into 0 15.816 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 15.816 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 15.816 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.816 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 15.817 * [backup-simplify]: Simplify (- 0) into 0 15.817 * [backup-simplify]: Simplify (+ 0 0) into 0 15.817 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 15.817 * [backup-simplify]: Simplify (+ 0) into 0 15.818 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 15.818 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 15.818 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.818 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 15.819 * [backup-simplify]: Simplify (+ 0 0) into 0 15.819 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 15.819 * [backup-simplify]: Simplify (+ 0) into 0 15.819 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 15.820 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 15.820 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.820 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 15.821 * [backup-simplify]: Simplify (- 0) into 0 15.821 * [backup-simplify]: Simplify (+ 0 0) into 0 15.821 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 15.821 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.822 * [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 15.822 * [backup-simplify]: Simplify (+ 0 0) into 0 15.823 * [backup-simplify]: Simplify (+ 0 0) into 0 15.823 * [backup-simplify]: Simplify (+ 0 0) into 0 15.823 * [backup-simplify]: Simplify (+ 0 0) into 0 15.824 * [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)) 15.824 * [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))) 15.824 * [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))) 15.825 * [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 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 (* (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))) 15.825 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in lambda1 15.825 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in lambda1 15.826 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in lambda1 15.826 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 15.826 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 15.826 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.826 * [backup-simplify]: Simplify phi2 into phi2 15.826 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.826 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.826 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda1 15.826 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 15.826 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 15.826 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.826 * [backup-simplify]: Simplify phi1 into phi1 15.826 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.826 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.826 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1 15.826 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 15.826 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 15.826 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 15.826 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 15.826 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 15.826 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.826 * [backup-simplify]: Simplify -0.5 into -0.5 15.826 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.826 * [backup-simplify]: Simplify phi2 into phi2 15.826 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.826 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.826 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.826 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.827 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.827 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 15.827 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 15.827 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 15.827 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.827 * [backup-simplify]: Simplify -0.5 into -0.5 15.827 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.827 * [backup-simplify]: Simplify phi1 into phi1 15.827 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.827 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.827 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.827 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.827 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.827 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.827 * [backup-simplify]: Simplify 0 into 0 15.827 * [backup-simplify]: Simplify 1 into 1 15.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 15.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 15.828 * [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)) 15.828 * [backup-simplify]: Simplify (* 1 1) into 1 15.829 * [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)) 15.829 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 15.829 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 15.829 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 15.829 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 15.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 15.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 15.829 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.829 * [backup-simplify]: Simplify -0.5 into -0.5 15.829 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.829 * [backup-simplify]: Simplify phi2 into phi2 15.829 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.829 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.829 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.830 * [backup-simplify]: Simplify (- 0) into 0 15.830 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.830 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 15.830 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 15.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 15.830 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.830 * [backup-simplify]: Simplify -0.5 into -0.5 15.830 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.830 * [backup-simplify]: Simplify phi1 into phi1 15.830 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.830 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.830 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.830 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.831 * [backup-simplify]: Simplify (- 0) into 0 15.831 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.831 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.831 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.831 * [backup-simplify]: Simplify lambda2 into lambda2 15.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 15.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 15.832 * [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)) 15.832 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.832 * [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)) 15.832 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 15.832 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 15.833 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 15.833 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 15.833 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 15.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 15.833 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.833 * [backup-simplify]: Simplify -0.5 into -0.5 15.833 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.833 * [backup-simplify]: Simplify phi2 into phi2 15.833 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.834 * [backup-simplify]: Simplify (- 0) into 0 15.834 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.834 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 15.834 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 15.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 15.834 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.834 * [backup-simplify]: Simplify -0.5 into -0.5 15.834 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.834 * [backup-simplify]: Simplify phi1 into phi1 15.835 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.835 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.835 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.835 * [backup-simplify]: Simplify (- 0) into 0 15.835 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.835 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.835 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.836 * [backup-simplify]: Simplify 0 into 0 15.836 * [backup-simplify]: Simplify 1 into 1 15.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 15.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 15.836 * [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)) 15.837 * [backup-simplify]: Simplify (* 1 1) into 1 15.837 * [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)) 15.837 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 15.837 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 15.837 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 15.837 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 15.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 15.837 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.837 * [backup-simplify]: Simplify -0.5 into -0.5 15.837 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.837 * [backup-simplify]: Simplify phi2 into phi2 15.837 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.838 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.838 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 15.838 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 15.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 15.838 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.838 * [backup-simplify]: Simplify -0.5 into -0.5 15.838 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.838 * [backup-simplify]: Simplify phi1 into phi1 15.838 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.839 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.839 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.839 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.839 * [backup-simplify]: Simplify lambda2 into lambda2 15.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 15.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 15.839 * [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)) 15.839 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.840 * [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)) 15.840 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in lambda1 15.840 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 15.840 * [taylor]: Taking taylor expansion of 2 in lambda1 15.840 * [backup-simplify]: Simplify 2 into 2 15.840 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 15.840 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.840 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.840 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.840 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.840 * [backup-simplify]: Simplify -0.5 into -0.5 15.840 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.840 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.840 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.840 * [backup-simplify]: Simplify phi1 into phi1 15.840 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.840 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.840 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.840 * [backup-simplify]: Simplify phi2 into phi2 15.841 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.841 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.841 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.841 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.841 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.841 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.842 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.842 * [backup-simplify]: Simplify (- 0) into 0 15.842 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.842 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.842 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.842 * [backup-simplify]: Simplify lambda2 into lambda2 15.842 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.842 * [backup-simplify]: Simplify 0 into 0 15.842 * [backup-simplify]: Simplify 1 into 1 15.843 * [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) 15.843 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.843 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 15.844 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 15.844 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in lambda1 15.844 * [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 15.844 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 15.844 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 15.844 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 15.844 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.844 * [backup-simplify]: Simplify -0.5 into -0.5 15.844 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.844 * [backup-simplify]: Simplify phi1 into phi1 15.844 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.844 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.844 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.844 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 15.844 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 15.844 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 15.844 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.844 * [backup-simplify]: Simplify -0.5 into -0.5 15.845 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.845 * [backup-simplify]: Simplify phi2 into phi2 15.845 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.845 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.845 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.845 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 15.845 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 15.845 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 15.845 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.845 * [backup-simplify]: Simplify -0.5 into -0.5 15.845 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.845 * [backup-simplify]: Simplify phi2 into phi2 15.845 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.845 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.845 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.845 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 15.845 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 15.845 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.845 * [backup-simplify]: Simplify -0.5 into -0.5 15.845 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.845 * [backup-simplify]: Simplify phi1 into phi1 15.845 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.846 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.846 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.846 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.846 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.846 * [backup-simplify]: Simplify lambda2 into lambda2 15.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.846 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.847 * [backup-simplify]: Simplify (- 0) into 0 15.847 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.847 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.847 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.847 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.847 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.848 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.848 * [backup-simplify]: Simplify (- 0) into 0 15.848 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.848 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 15.849 * [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)))) 15.849 * [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))))) 15.849 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.850 * [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)) 15.850 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in lambda1 15.850 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 15.850 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 15.850 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 15.850 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 15.850 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.850 * [backup-simplify]: Simplify -0.5 into -0.5 15.850 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.850 * [backup-simplify]: Simplify phi1 into phi1 15.850 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.850 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.850 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.850 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 15.850 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 15.850 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 15.850 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.850 * [backup-simplify]: Simplify -0.5 into -0.5 15.850 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.850 * [backup-simplify]: Simplify phi2 into phi2 15.850 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.851 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.851 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.851 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 15.851 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 15.851 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 15.851 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.851 * [backup-simplify]: Simplify -0.5 into -0.5 15.851 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.851 * [backup-simplify]: Simplify phi2 into phi2 15.851 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.851 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.851 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.851 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 15.851 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 15.851 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.851 * [backup-simplify]: Simplify -0.5 into -0.5 15.851 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.851 * [backup-simplify]: Simplify phi1 into phi1 15.851 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.851 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.852 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.852 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.852 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.852 * [backup-simplify]: Simplify 0 into 0 15.852 * [backup-simplify]: Simplify 1 into 1 15.852 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.852 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.852 * [backup-simplify]: Simplify (- 0) into 0 15.853 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.853 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.853 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.853 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.853 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.853 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.854 * [backup-simplify]: Simplify (- 0) into 0 15.854 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.854 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.854 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.854 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.854 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 15.854 * [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)))) 15.855 * [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))))) 15.855 * [backup-simplify]: Simplify (* 1 1) into 1 15.856 * [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))))) 15.856 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in lambda1 15.856 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 15.856 * [taylor]: Taking taylor expansion of 2 in lambda1 15.856 * [backup-simplify]: Simplify 2 into 2 15.856 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 15.856 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 15.856 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.856 * [backup-simplify]: Simplify phi2 into phi2 15.856 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.856 * [backup-simplify]: Simplify phi1 into phi1 15.856 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 15.856 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 15.856 * [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 lambda1 2))) in lambda1 15.856 * [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 15.856 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 15.856 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 15.856 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 15.856 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.856 * [backup-simplify]: Simplify -0.5 into -0.5 15.856 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.856 * [backup-simplify]: Simplify phi1 into phi1 15.856 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.856 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.857 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.857 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 15.857 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 15.857 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 15.857 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.857 * [backup-simplify]: Simplify -0.5 into -0.5 15.857 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.857 * [backup-simplify]: Simplify phi2 into phi2 15.857 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.857 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.857 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.857 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 15.857 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 15.857 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 15.857 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.857 * [backup-simplify]: Simplify -0.5 into -0.5 15.857 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.857 * [backup-simplify]: Simplify phi2 into phi2 15.857 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.857 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.857 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.857 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 15.858 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 15.858 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.858 * [backup-simplify]: Simplify -0.5 into -0.5 15.858 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.858 * [backup-simplify]: Simplify phi1 into phi1 15.858 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.858 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.858 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.858 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.858 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.858 * [backup-simplify]: Simplify lambda2 into lambda2 15.858 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.858 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.859 * [backup-simplify]: Simplify (- 0) into 0 15.859 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.859 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.860 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.860 * [backup-simplify]: Simplify (- 0) into 0 15.860 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.860 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.860 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.860 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.861 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 15.861 * [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)))) 15.861 * [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))))) 15.861 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.862 * [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)) 15.862 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 15.862 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 15.862 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 15.862 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 15.862 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.862 * [backup-simplify]: Simplify -0.5 into -0.5 15.862 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.862 * [backup-simplify]: Simplify phi1 into phi1 15.862 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.862 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.862 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.862 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 15.862 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 15.862 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 15.862 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.862 * [backup-simplify]: Simplify -0.5 into -0.5 15.862 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.862 * [backup-simplify]: Simplify phi2 into phi2 15.863 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.863 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.863 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.863 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 15.863 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 15.863 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 15.863 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.863 * [backup-simplify]: Simplify -0.5 into -0.5 15.863 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.863 * [backup-simplify]: Simplify phi2 into phi2 15.863 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.863 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.863 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.863 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 15.863 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 15.863 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.863 * [backup-simplify]: Simplify -0.5 into -0.5 15.863 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.863 * [backup-simplify]: Simplify phi1 into phi1 15.863 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.863 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.864 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.864 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.864 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.864 * [backup-simplify]: Simplify 0 into 0 15.864 * [backup-simplify]: Simplify 1 into 1 15.864 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.864 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.864 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.864 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.864 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.865 * [backup-simplify]: Simplify (- 0) into 0 15.865 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.865 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.865 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.865 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.865 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.865 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.866 * [backup-simplify]: Simplify (- 0) into 0 15.866 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.866 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 15.866 * [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)))) 15.867 * [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))))) 15.867 * [backup-simplify]: Simplify (* 1 1) into 1 15.868 * [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))))) 15.868 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 0) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 15.868 * [backup-simplify]: Simplify (+ 0 (* (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)) 15.869 * [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))) 15.869 * [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))) 15.870 * [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))) 15.870 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (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))))) 15.870 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (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))))) 15.871 * [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)))))) 15.871 * [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)))))) 15.872 * [backup-simplify]: Simplify (+ 0 (+ (* (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)))))) 15.872 * [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 (- (+ (* (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))))))) 15.874 * [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)))))))) 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))))))) 15.875 * [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 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 (- (+ (* (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)))))))) 15.875 * [backup-simplify]: Simplify (+ 0) into 0 15.876 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 15.876 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 15.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.877 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 15.877 * [backup-simplify]: Simplify (+ 0 0) into 0 15.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 15.877 * [backup-simplify]: Simplify (+ 0) into 0 15.878 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 15.878 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 15.878 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.879 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 15.879 * [backup-simplify]: Simplify (+ 0 0) into 0 15.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 15.879 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 15.880 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.881 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 15.881 * [backup-simplify]: Simplify (+ 0) into 0 15.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 15.881 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 15.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.883 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 15.883 * [backup-simplify]: Simplify (- 0) into 0 15.886 * [backup-simplify]: Simplify (+ 0 0) into 0 15.886 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 15.887 * [backup-simplify]: Simplify (+ 0) into 0 15.887 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 15.887 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 15.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.888 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 15.888 * [backup-simplify]: Simplify (- 0) into 0 15.889 * [backup-simplify]: Simplify (+ 0 0) into 0 15.889 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 15.889 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 15.889 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.890 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 15.890 * [backup-simplify]: Simplify (+ 0 0) into 0 15.891 * [backup-simplify]: Simplify (+ 0 0) into 0 15.891 * [backup-simplify]: Simplify (+ 0 0) into 0 15.891 * [backup-simplify]: Simplify (+ 0 0) into 0 15.891 * [backup-simplify]: Simplify (+ 0 0) into 0 15.891 * [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)) 15.892 * [backup-simplify]: Simplify (+ 0) into 0 15.892 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 15.892 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 15.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 15.893 * [backup-simplify]: Simplify (+ 0 0) into 0 15.894 * [backup-simplify]: Simplify (+ 0) into 0 15.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 15.894 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 15.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 15.895 * [backup-simplify]: Simplify (- 0) into 0 15.895 * [backup-simplify]: Simplify (+ 0 0) into 0 15.895 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 15.896 * [backup-simplify]: Simplify (+ 0) into 0 15.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 15.896 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 15.897 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.898 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 15.898 * [backup-simplify]: Simplify (+ 0 0) into 0 15.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 15.899 * [backup-simplify]: Simplify (+ 0) into 0 15.899 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 15.899 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 15.900 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.901 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 15.901 * [backup-simplify]: Simplify (- 0) into 0 15.902 * [backup-simplify]: Simplify (+ 0 0) into 0 15.902 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 15.903 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.904 * [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 15.904 * [backup-simplify]: Simplify (+ 0) into 0 15.905 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 15.905 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 15.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 15.907 * [backup-simplify]: Simplify (- 0) into 0 15.907 * [backup-simplify]: Simplify (+ 0 0) into 0 15.907 * [backup-simplify]: Simplify (+ 0) into 0 15.908 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 15.908 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 15.909 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 15.910 * [backup-simplify]: Simplify (+ 0 0) into 0 15.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 15.910 * [backup-simplify]: Simplify (+ 0) into 0 15.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 15.911 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 15.912 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.912 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 15.913 * [backup-simplify]: Simplify (- 0) into 0 15.913 * [backup-simplify]: Simplify (+ 0 0) into 0 15.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 15.914 * [backup-simplify]: Simplify (+ 0) into 0 15.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 15.915 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 15.915 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.916 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 15.916 * [backup-simplify]: Simplify (+ 0 0) into 0 15.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 15.917 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.919 * [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 15.919 * [backup-simplify]: Simplify (+ 0 0) into 0 15.919 * [backup-simplify]: Simplify (+ 0 0) into 0 15.920 * [backup-simplify]: Simplify (+ 0 0) into 0 15.920 * [backup-simplify]: Simplify (+ 0 0) into 0 15.921 * [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)) 15.921 * [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))) 15.921 * [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))) 15.924 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 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 (* -1 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 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))) (+ (* (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))))))))))) 15.924 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in phi1 15.924 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in phi1 15.924 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in phi1 15.925 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 15.925 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.925 * [taylor]: Taking taylor expansion of phi2 in phi1 15.925 * [backup-simplify]: Simplify phi2 into phi2 15.925 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.925 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.925 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi1 15.925 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 15.925 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.925 * [taylor]: Taking taylor expansion of phi1 in phi1 15.925 * [backup-simplify]: Simplify 0 into 0 15.925 * [backup-simplify]: Simplify 1 into 1 15.926 * [backup-simplify]: Simplify (* 1 1) into 1 15.926 * [backup-simplify]: Simplify (/ 1 1) into 1 15.926 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi1 15.926 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 15.926 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 15.926 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 15.926 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 15.926 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 15.926 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.926 * [backup-simplify]: Simplify -0.5 into -0.5 15.926 * [taylor]: Taking taylor expansion of phi2 in phi1 15.926 * [backup-simplify]: Simplify phi2 into phi2 15.927 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.927 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.927 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.927 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.927 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 15.927 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 15.927 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 15.927 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.927 * [backup-simplify]: Simplify -0.5 into -0.5 15.927 * [taylor]: Taking taylor expansion of phi1 in phi1 15.927 * [backup-simplify]: Simplify 0 into 0 15.927 * [backup-simplify]: Simplify 1 into 1 15.928 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.928 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.928 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.928 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.928 * [backup-simplify]: Simplify lambda1 into lambda1 15.928 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 15.928 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 15.929 * [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)) 15.929 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.929 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 15.929 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 15.929 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 15.929 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 15.929 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 15.929 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 15.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 15.930 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.930 * [backup-simplify]: Simplify -0.5 into -0.5 15.930 * [taylor]: Taking taylor expansion of phi2 in phi1 15.930 * [backup-simplify]: Simplify phi2 into phi2 15.930 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.930 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.930 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.930 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.930 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.931 * [backup-simplify]: Simplify (- 0) into 0 15.931 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.931 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 15.931 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 15.931 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 15.931 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.931 * [backup-simplify]: Simplify -0.5 into -0.5 15.931 * [taylor]: Taking taylor expansion of phi1 in phi1 15.931 * [backup-simplify]: Simplify 0 into 0 15.931 * [backup-simplify]: Simplify 1 into 1 15.932 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.932 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.932 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.932 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.932 * [backup-simplify]: Simplify lambda2 into lambda2 15.932 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 15.932 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 15.932 * [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)) 15.933 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.933 * [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)) 15.933 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 15.933 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 15.933 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 15.933 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 15.934 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 15.934 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 15.934 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.934 * [backup-simplify]: Simplify -0.5 into -0.5 15.934 * [taylor]: Taking taylor expansion of phi2 in phi1 15.934 * [backup-simplify]: Simplify phi2 into phi2 15.934 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.934 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.934 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.934 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.934 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.935 * [backup-simplify]: Simplify (- 0) into 0 15.935 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.935 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 15.935 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 15.935 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 15.935 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.935 * [backup-simplify]: Simplify -0.5 into -0.5 15.935 * [taylor]: Taking taylor expansion of phi1 in phi1 15.935 * [backup-simplify]: Simplify 0 into 0 15.935 * [backup-simplify]: Simplify 1 into 1 15.936 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.936 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.936 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.936 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.936 * [backup-simplify]: Simplify lambda1 into lambda1 15.936 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 15.936 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 15.937 * [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)) 15.937 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.937 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 15.937 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 15.937 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 15.937 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 15.937 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 15.937 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 15.937 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.937 * [backup-simplify]: Simplify -0.5 into -0.5 15.937 * [taylor]: Taking taylor expansion of phi2 in phi1 15.937 * [backup-simplify]: Simplify phi2 into phi2 15.937 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.938 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.938 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.938 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.938 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.938 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.938 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 15.938 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 15.938 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 15.938 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.938 * [backup-simplify]: Simplify -0.5 into -0.5 15.938 * [taylor]: Taking taylor expansion of phi1 in phi1 15.938 * [backup-simplify]: Simplify 0 into 0 15.938 * [backup-simplify]: Simplify 1 into 1 15.939 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.939 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.939 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.939 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.939 * [backup-simplify]: Simplify lambda2 into lambda2 15.939 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 15.939 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 15.940 * [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)) 15.940 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.940 * [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)) 15.940 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in phi1 15.940 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 15.940 * [taylor]: Taking taylor expansion of 2 in phi1 15.940 * [backup-simplify]: Simplify 2 into 2 15.941 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 15.941 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 15.941 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.941 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.941 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.941 * [backup-simplify]: Simplify -0.5 into -0.5 15.941 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.941 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.941 * [taylor]: Taking taylor expansion of phi1 in phi1 15.941 * [backup-simplify]: Simplify 0 into 0 15.941 * [backup-simplify]: Simplify 1 into 1 15.941 * [backup-simplify]: Simplify (/ 1 1) into 1 15.941 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.941 * [taylor]: Taking taylor expansion of phi2 in phi1 15.941 * [backup-simplify]: Simplify phi2 into phi2 15.941 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.942 * [backup-simplify]: Simplify (+ 1 0) into 1 15.942 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.943 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.943 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 15.943 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.943 * [backup-simplify]: Simplify lambda2 into lambda2 15.943 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.943 * [backup-simplify]: Simplify lambda1 into lambda1 15.943 * [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) 15.943 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.944 * [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)) 15.944 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in phi1 15.944 * [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 15.944 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 15.944 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 15.944 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 15.944 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.944 * [backup-simplify]: Simplify -0.5 into -0.5 15.944 * [taylor]: Taking taylor expansion of phi1 in phi1 15.944 * [backup-simplify]: Simplify 0 into 0 15.944 * [backup-simplify]: Simplify 1 into 1 15.945 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.945 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.945 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 15.945 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 15.945 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 15.945 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.945 * [backup-simplify]: Simplify -0.5 into -0.5 15.945 * [taylor]: Taking taylor expansion of phi2 in phi1 15.945 * [backup-simplify]: Simplify phi2 into phi2 15.945 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.945 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.945 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.945 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 15.945 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 15.945 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 15.945 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.945 * [backup-simplify]: Simplify -0.5 into -0.5 15.945 * [taylor]: Taking taylor expansion of phi2 in phi1 15.945 * [backup-simplify]: Simplify phi2 into phi2 15.945 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.946 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.946 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.946 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 15.946 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 15.946 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.946 * [backup-simplify]: Simplify -0.5 into -0.5 15.946 * [taylor]: Taking taylor expansion of phi1 in phi1 15.946 * [backup-simplify]: Simplify 0 into 0 15.946 * [backup-simplify]: Simplify 1 into 1 15.946 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.947 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.947 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.947 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.947 * [backup-simplify]: Simplify lambda2 into lambda2 15.947 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.947 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.948 * [backup-simplify]: Simplify (- 0) into 0 15.948 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.948 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.948 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.948 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.948 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 15.949 * [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)))) 15.949 * [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))))) 15.949 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.950 * [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)) 15.950 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in phi1 15.950 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi1 15.950 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 15.950 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 15.950 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 15.950 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.950 * [backup-simplify]: Simplify -0.5 into -0.5 15.950 * [taylor]: Taking taylor expansion of phi1 in phi1 15.950 * [backup-simplify]: Simplify 0 into 0 15.950 * [backup-simplify]: Simplify 1 into 1 15.950 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.951 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.951 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 15.951 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 15.951 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 15.951 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.951 * [backup-simplify]: Simplify -0.5 into -0.5 15.951 * [taylor]: Taking taylor expansion of phi2 in phi1 15.951 * [backup-simplify]: Simplify phi2 into phi2 15.951 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.951 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.951 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.951 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 15.951 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 15.951 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 15.951 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.951 * [backup-simplify]: Simplify -0.5 into -0.5 15.951 * [taylor]: Taking taylor expansion of phi2 in phi1 15.951 * [backup-simplify]: Simplify phi2 into phi2 15.951 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.951 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.952 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.952 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 15.952 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 15.952 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.952 * [backup-simplify]: Simplify -0.5 into -0.5 15.952 * [taylor]: Taking taylor expansion of phi1 in phi1 15.952 * [backup-simplify]: Simplify 0 into 0 15.952 * [backup-simplify]: Simplify 1 into 1 15.952 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.952 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.952 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.952 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.952 * [backup-simplify]: Simplify lambda1 into lambda1 15.952 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.953 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.953 * [backup-simplify]: Simplify (- 0) into 0 15.953 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 15.954 * [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)))) 15.954 * [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))))) 15.954 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.955 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) 15.955 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in phi1 15.955 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 15.955 * [taylor]: Taking taylor expansion of 2 in phi1 15.955 * [backup-simplify]: Simplify 2 into 2 15.955 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 15.955 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 15.955 * [taylor]: Taking taylor expansion of phi2 in phi1 15.955 * [backup-simplify]: Simplify phi2 into phi2 15.955 * [taylor]: Taking taylor expansion of phi1 in phi1 15.955 * [backup-simplify]: Simplify 0 into 0 15.955 * [backup-simplify]: Simplify 1 into 1 15.955 * [backup-simplify]: Simplify (* phi2 0) into 0 15.956 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 15.956 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.956 * [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 lambda1 2))) in phi1 15.956 * [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 15.956 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 15.956 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 15.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 15.956 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.956 * [backup-simplify]: Simplify -0.5 into -0.5 15.956 * [taylor]: Taking taylor expansion of phi1 in phi1 15.956 * [backup-simplify]: Simplify 0 into 0 15.956 * [backup-simplify]: Simplify 1 into 1 15.956 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.957 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.957 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 15.957 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 15.957 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 15.957 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.957 * [backup-simplify]: Simplify -0.5 into -0.5 15.957 * [taylor]: Taking taylor expansion of phi2 in phi1 15.957 * [backup-simplify]: Simplify phi2 into phi2 15.957 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.957 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.957 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.957 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 15.957 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 15.957 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 15.957 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.957 * [backup-simplify]: Simplify -0.5 into -0.5 15.957 * [taylor]: Taking taylor expansion of phi2 in phi1 15.957 * [backup-simplify]: Simplify phi2 into phi2 15.957 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.957 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.957 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.958 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 15.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 15.958 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.958 * [backup-simplify]: Simplify -0.5 into -0.5 15.958 * [taylor]: Taking taylor expansion of phi1 in phi1 15.958 * [backup-simplify]: Simplify 0 into 0 15.958 * [backup-simplify]: Simplify 1 into 1 15.958 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.958 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.958 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.958 * [backup-simplify]: Simplify lambda2 into lambda2 15.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.959 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.959 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.959 * [backup-simplify]: Simplify (- 0) into 0 15.959 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.960 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 15.960 * [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)))) 15.960 * [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))))) 15.960 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.961 * [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)) 15.961 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi1 15.961 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 15.961 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 15.961 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 15.961 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.961 * [backup-simplify]: Simplify -0.5 into -0.5 15.961 * [taylor]: Taking taylor expansion of phi1 in phi1 15.961 * [backup-simplify]: Simplify 0 into 0 15.961 * [backup-simplify]: Simplify 1 into 1 15.962 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.962 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.962 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 15.962 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 15.962 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 15.962 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.962 * [backup-simplify]: Simplify -0.5 into -0.5 15.962 * [taylor]: Taking taylor expansion of phi2 in phi1 15.962 * [backup-simplify]: Simplify phi2 into phi2 15.962 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.962 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.962 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.962 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 15.962 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 15.962 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 15.962 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.962 * [backup-simplify]: Simplify -0.5 into -0.5 15.962 * [taylor]: Taking taylor expansion of phi2 in phi1 15.962 * [backup-simplify]: Simplify phi2 into phi2 15.963 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 15.963 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.963 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.963 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 15.963 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 15.963 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.963 * [backup-simplify]: Simplify -0.5 into -0.5 15.963 * [taylor]: Taking taylor expansion of phi1 in phi1 15.963 * [backup-simplify]: Simplify 0 into 0 15.963 * [backup-simplify]: Simplify 1 into 1 15.963 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.963 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.964 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.964 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.964 * [backup-simplify]: Simplify lambda1 into lambda1 15.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 15.964 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 15.964 * [backup-simplify]: Simplify (- 0) into 0 15.964 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 15.964 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 15.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 15.965 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 15.965 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 15.965 * [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)))) 15.965 * [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))))) 15.965 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.966 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 15.967 * [backup-simplify]: Simplify (+ 1 0) into 1 15.967 * [backup-simplify]: Simplify (+ 0 1) into 1 15.967 * [backup-simplify]: Simplify (+ 1 0) into 1 15.968 * [backup-simplify]: Simplify (sqrt 1) into 1 15.969 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.969 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.970 * [backup-simplify]: Simplify (+ 0 0) into 0 15.970 * [backup-simplify]: Simplify (+ 0 0) into 0 15.970 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 15.970 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 15.970 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 15.970 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 15.971 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 15.971 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 15.971 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 15.972 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 15.972 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in phi2 15.972 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in phi2 15.972 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in phi2 15.972 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 15.972 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 15.972 * [taylor]: Taking taylor expansion of phi2 in phi2 15.972 * [backup-simplify]: Simplify 0 into 0 15.972 * [backup-simplify]: Simplify 1 into 1 15.972 * [backup-simplify]: Simplify (* 1 1) into 1 15.973 * [backup-simplify]: Simplify (/ 1 1) into 1 15.973 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi2 15.973 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 15.973 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 15.973 * [taylor]: Taking taylor expansion of phi1 in phi2 15.973 * [backup-simplify]: Simplify phi1 into phi1 15.973 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.973 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.973 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi2 15.973 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 15.973 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 15.973 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 15.973 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 15.974 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 15.974 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.974 * [backup-simplify]: Simplify -0.5 into -0.5 15.974 * [taylor]: Taking taylor expansion of phi2 in phi2 15.974 * [backup-simplify]: Simplify 0 into 0 15.974 * [backup-simplify]: Simplify 1 into 1 15.974 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.974 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.974 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 15.974 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 15.974 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 15.974 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.975 * [backup-simplify]: Simplify -0.5 into -0.5 15.975 * [taylor]: Taking taylor expansion of phi1 in phi2 15.975 * [backup-simplify]: Simplify phi1 into phi1 15.975 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.975 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.975 * [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 lambda1 2) in phi2 15.975 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.975 * [backup-simplify]: Simplify lambda1 into lambda1 15.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 15.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 15.976 * [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)) 15.976 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.977 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 15.977 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2 15.977 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 15.977 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 15.977 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 15.977 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 15.977 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 15.977 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.977 * [backup-simplify]: Simplify -0.5 into -0.5 15.977 * [taylor]: Taking taylor expansion of phi2 in phi2 15.977 * [backup-simplify]: Simplify 0 into 0 15.977 * [backup-simplify]: Simplify 1 into 1 15.978 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.978 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.978 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 15.978 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 15.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 15.978 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.978 * [backup-simplify]: Simplify -0.5 into -0.5 15.978 * [taylor]: Taking taylor expansion of phi1 in phi2 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 (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 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.979 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.979 * [backup-simplify]: Simplify (- 0) into 0 15.979 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.979 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 15.979 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.979 * [backup-simplify]: Simplify lambda2 into lambda2 15.979 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 15.979 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 15.980 * [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)) 15.980 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.980 * [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)) 15.980 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2 15.980 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 15.980 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 15.981 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 15.981 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 15.981 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 15.981 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.981 * [backup-simplify]: Simplify -0.5 into -0.5 15.981 * [taylor]: Taking taylor expansion of phi2 in phi2 15.981 * [backup-simplify]: Simplify 0 into 0 15.981 * [backup-simplify]: Simplify 1 into 1 15.981 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.981 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.981 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 15.981 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 15.981 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 15.981 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.982 * [backup-simplify]: Simplify -0.5 into -0.5 15.982 * [taylor]: Taking taylor expansion of phi1 in phi2 15.982 * [backup-simplify]: Simplify phi1 into phi1 15.982 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.982 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.982 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.982 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.982 * [backup-simplify]: Simplify (- 0) into 0 15.983 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.983 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 15.983 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.983 * [backup-simplify]: Simplify lambda1 into lambda1 15.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 15.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 15.983 * [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)) 15.983 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.984 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 15.984 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 15.984 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 15.984 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 15.985 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 15.985 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 15.985 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.985 * [backup-simplify]: Simplify -0.5 into -0.5 15.985 * [taylor]: Taking taylor expansion of phi2 in phi2 15.985 * [backup-simplify]: Simplify 0 into 0 15.985 * [backup-simplify]: Simplify 1 into 1 15.985 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.985 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.985 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 15.986 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 15.986 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 15.986 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.986 * [backup-simplify]: Simplify -0.5 into -0.5 15.986 * [taylor]: Taking taylor expansion of phi1 in phi2 15.986 * [backup-simplify]: Simplify phi1 into phi1 15.986 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.986 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.986 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.986 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.986 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.986 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.986 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 15.986 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.986 * [backup-simplify]: Simplify lambda2 into lambda2 15.987 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 15.987 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 15.987 * [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)) 15.987 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.988 * [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)) 15.988 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in phi2 15.988 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 15.988 * [taylor]: Taking taylor expansion of 2 in phi2 15.988 * [backup-simplify]: Simplify 2 into 2 15.988 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 15.988 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 15.988 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.988 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.988 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.988 * [backup-simplify]: Simplify -0.5 into -0.5 15.988 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.988 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.988 * [taylor]: Taking taylor expansion of phi1 in phi2 15.988 * [backup-simplify]: Simplify phi1 into phi1 15.988 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.988 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.988 * [taylor]: Taking taylor expansion of phi2 in phi2 15.988 * [backup-simplify]: Simplify 0 into 0 15.988 * [backup-simplify]: Simplify 1 into 1 15.989 * [backup-simplify]: Simplify (/ 1 1) into 1 15.989 * [backup-simplify]: Simplify (+ 0 1) into 1 15.990 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.990 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.990 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 15.990 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.990 * [backup-simplify]: Simplify lambda2 into lambda2 15.990 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.990 * [backup-simplify]: Simplify lambda1 into lambda1 15.991 * [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) 15.991 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.991 * [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)) 15.991 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in phi2 15.991 * [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 15.991 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 15.991 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 15.991 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 15.991 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.991 * [backup-simplify]: Simplify -0.5 into -0.5 15.991 * [taylor]: Taking taylor expansion of phi1 in phi2 15.991 * [backup-simplify]: Simplify phi1 into phi1 15.991 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.992 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.992 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.992 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 15.992 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 15.992 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 15.992 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.992 * [backup-simplify]: Simplify -0.5 into -0.5 15.992 * [taylor]: Taking taylor expansion of phi2 in phi2 15.992 * [backup-simplify]: Simplify 0 into 0 15.992 * [backup-simplify]: Simplify 1 into 1 15.992 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.993 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.993 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 15.993 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 15.993 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 15.993 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.993 * [backup-simplify]: Simplify -0.5 into -0.5 15.993 * [taylor]: Taking taylor expansion of phi2 in phi2 15.993 * [backup-simplify]: Simplify 0 into 0 15.993 * [backup-simplify]: Simplify 1 into 1 15.993 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.993 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.993 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 15.994 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 15.994 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.994 * [backup-simplify]: Simplify -0.5 into -0.5 15.994 * [taylor]: Taking taylor expansion of phi1 in phi2 15.994 * [backup-simplify]: Simplify phi1 into phi1 15.994 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.994 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.994 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.994 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 15.994 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.994 * [backup-simplify]: Simplify lambda2 into lambda2 15.994 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 15.994 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 15.994 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 15.994 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 15.995 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 15.995 * [backup-simplify]: Simplify (- 0) into 0 15.995 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 15.995 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 15.996 * [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)))) 15.996 * [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))))) 15.996 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.996 * [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)) 15.997 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in phi2 15.997 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi2 15.997 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 15.997 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 15.997 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 15.997 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.997 * [backup-simplify]: Simplify -0.5 into -0.5 15.997 * [taylor]: Taking taylor expansion of phi1 in phi2 15.997 * [backup-simplify]: Simplify phi1 into phi1 15.997 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.997 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.997 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.997 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 15.997 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 15.997 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 15.997 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.997 * [backup-simplify]: Simplify -0.5 into -0.5 15.997 * [taylor]: Taking taylor expansion of phi2 in phi2 15.997 * [backup-simplify]: Simplify 0 into 0 15.997 * [backup-simplify]: Simplify 1 into 1 15.998 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.998 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 15.998 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 15.998 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 15.998 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 15.998 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.998 * [backup-simplify]: Simplify -0.5 into -0.5 15.998 * [taylor]: Taking taylor expansion of phi2 in phi2 15.998 * [backup-simplify]: Simplify 0 into 0 15.998 * [backup-simplify]: Simplify 1 into 1 15.999 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 15.999 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 15.999 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 15.999 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 15.999 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.999 * [backup-simplify]: Simplify -0.5 into -0.5 15.999 * [taylor]: Taking taylor expansion of phi1 in phi2 15.999 * [backup-simplify]: Simplify phi1 into phi1 15.999 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 15.999 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 15.999 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 15.999 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 15.999 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.999 * [backup-simplify]: Simplify lambda1 into lambda1 15.999 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.000 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.000 * [backup-simplify]: Simplify (- 0) into 0 16.000 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.000 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.000 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.000 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.001 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 16.001 * [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)))) 16.001 * [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))))) 16.001 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.002 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) 16.002 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in phi2 16.002 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 16.002 * [taylor]: Taking taylor expansion of 2 in phi2 16.002 * [backup-simplify]: Simplify 2 into 2 16.002 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 16.002 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 16.002 * [taylor]: Taking taylor expansion of phi2 in phi2 16.002 * [backup-simplify]: Simplify 0 into 0 16.002 * [backup-simplify]: Simplify 1 into 1 16.002 * [taylor]: Taking taylor expansion of phi1 in phi2 16.002 * [backup-simplify]: Simplify phi1 into phi1 16.002 * [backup-simplify]: Simplify (* 0 phi1) into 0 16.003 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 16.003 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.003 * [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 lambda1 2))) in phi2 16.003 * [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 16.003 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 16.003 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.003 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.003 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.003 * [backup-simplify]: Simplify -0.5 into -0.5 16.003 * [taylor]: Taking taylor expansion of phi1 in phi2 16.003 * [backup-simplify]: Simplify phi1 into phi1 16.003 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.003 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.003 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.003 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 16.003 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.003 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.004 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.004 * [backup-simplify]: Simplify -0.5 into -0.5 16.004 * [taylor]: Taking taylor expansion of phi2 in phi2 16.004 * [backup-simplify]: Simplify 0 into 0 16.004 * [backup-simplify]: Simplify 1 into 1 16.004 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.004 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.004 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 16.004 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.004 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.004 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.004 * [backup-simplify]: Simplify -0.5 into -0.5 16.004 * [taylor]: Taking taylor expansion of phi2 in phi2 16.004 * [backup-simplify]: Simplify 0 into 0 16.005 * [backup-simplify]: Simplify 1 into 1 16.005 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.005 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.005 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.005 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.005 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.005 * [backup-simplify]: Simplify -0.5 into -0.5 16.005 * [taylor]: Taking taylor expansion of phi1 in phi2 16.005 * [backup-simplify]: Simplify phi1 into phi1 16.005 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.005 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.006 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.006 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.006 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.006 * [backup-simplify]: Simplify lambda2 into lambda2 16.006 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.006 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.006 * [backup-simplify]: Simplify (- 0) into 0 16.006 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.006 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.007 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.007 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.007 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 16.007 * [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)))) 16.007 * [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))))) 16.008 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.008 * [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)) 16.008 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi2 16.008 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 16.008 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.008 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.008 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.008 * [backup-simplify]: Simplify -0.5 into -0.5 16.008 * [taylor]: Taking taylor expansion of phi1 in phi2 16.008 * [backup-simplify]: Simplify phi1 into phi1 16.008 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.009 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.009 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 16.009 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.009 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.009 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.009 * [backup-simplify]: Simplify -0.5 into -0.5 16.009 * [taylor]: Taking taylor expansion of phi2 in phi2 16.009 * [backup-simplify]: Simplify 0 into 0 16.009 * [backup-simplify]: Simplify 1 into 1 16.009 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.009 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.009 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 16.010 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.010 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.010 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.010 * [backup-simplify]: Simplify -0.5 into -0.5 16.010 * [taylor]: Taking taylor expansion of phi2 in phi2 16.010 * [backup-simplify]: Simplify 0 into 0 16.010 * [backup-simplify]: Simplify 1 into 1 16.010 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.010 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.010 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.010 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.010 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.010 * [backup-simplify]: Simplify -0.5 into -0.5 16.010 * [taylor]: Taking taylor expansion of phi1 in phi2 16.011 * [backup-simplify]: Simplify phi1 into phi1 16.011 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.011 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.011 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.011 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.011 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.011 * [backup-simplify]: Simplify lambda1 into lambda1 16.011 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.011 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.011 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.011 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.011 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.012 * [backup-simplify]: Simplify (- 0) into 0 16.012 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.012 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 16.012 * [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)))) 16.013 * [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))))) 16.013 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.014 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 16.014 * [backup-simplify]: Simplify (+ 1 0) into 1 16.015 * [backup-simplify]: Simplify (+ 1 0) into 1 16.015 * [backup-simplify]: Simplify (sqrt 1) into 1 16.016 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.017 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 16.017 * [backup-simplify]: Simplify (+ 0 0) into 0 16.017 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 16.017 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 16.017 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 16.017 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 16.017 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 16.018 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 16.018 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 16.018 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 16.018 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in phi2 16.019 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in phi2 16.019 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in phi2 16.019 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 16.019 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 16.019 * [taylor]: Taking taylor expansion of phi2 in phi2 16.019 * [backup-simplify]: Simplify 0 into 0 16.019 * [backup-simplify]: Simplify 1 into 1 16.019 * [backup-simplify]: Simplify (* 1 1) into 1 16.020 * [backup-simplify]: Simplify (/ 1 1) into 1 16.020 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi2 16.020 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 16.020 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 16.020 * [taylor]: Taking taylor expansion of phi1 in phi2 16.020 * [backup-simplify]: Simplify phi1 into phi1 16.020 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 16.020 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 16.020 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi2 16.020 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 16.020 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 16.020 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 16.020 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.020 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.020 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.020 * [backup-simplify]: Simplify -0.5 into -0.5 16.020 * [taylor]: Taking taylor expansion of phi2 in phi2 16.020 * [backup-simplify]: Simplify 0 into 0 16.021 * [backup-simplify]: Simplify 1 into 1 16.021 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.021 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.021 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 16.021 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.021 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.021 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.021 * [backup-simplify]: Simplify -0.5 into -0.5 16.021 * [taylor]: Taking taylor expansion of phi1 in phi2 16.021 * [backup-simplify]: Simplify phi1 into phi1 16.021 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.022 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.022 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.022 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.022 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.022 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.022 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.022 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.022 * [backup-simplify]: Simplify lambda1 into lambda1 16.022 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.022 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.023 * [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)) 16.023 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.023 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 16.023 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2 16.023 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 16.023 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 16.023 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 16.024 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.024 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.024 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.024 * [backup-simplify]: Simplify -0.5 into -0.5 16.024 * [taylor]: Taking taylor expansion of phi2 in phi2 16.024 * [backup-simplify]: Simplify 0 into 0 16.024 * [backup-simplify]: Simplify 1 into 1 16.024 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.024 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.024 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 16.024 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.024 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.025 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.025 * [backup-simplify]: Simplify -0.5 into -0.5 16.025 * [taylor]: Taking taylor expansion of phi1 in phi2 16.025 * [backup-simplify]: Simplify phi1 into phi1 16.025 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.025 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.025 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.025 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.025 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.026 * [backup-simplify]: Simplify (- 0) into 0 16.026 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.026 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.026 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.026 * [backup-simplify]: Simplify lambda2 into lambda2 16.026 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.026 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.027 * [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)) 16.027 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.027 * [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)) 16.027 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2 16.027 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 16.027 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 16.027 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 16.027 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.027 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.027 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.027 * [backup-simplify]: Simplify -0.5 into -0.5 16.027 * [taylor]: Taking taylor expansion of phi2 in phi2 16.027 * [backup-simplify]: Simplify 0 into 0 16.027 * [backup-simplify]: Simplify 1 into 1 16.028 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.028 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.028 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 16.028 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.028 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.028 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.028 * [backup-simplify]: Simplify -0.5 into -0.5 16.028 * [taylor]: Taking taylor expansion of phi1 in phi2 16.028 * [backup-simplify]: Simplify phi1 into phi1 16.028 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.028 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.029 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.029 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.029 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.029 * [backup-simplify]: Simplify (- 0) into 0 16.029 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.029 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.029 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.029 * [backup-simplify]: Simplify lambda1 into lambda1 16.030 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.030 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.030 * [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)) 16.030 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.031 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 16.031 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 16.031 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 16.031 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 16.031 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.031 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.031 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.031 * [backup-simplify]: Simplify -0.5 into -0.5 16.031 * [taylor]: Taking taylor expansion of phi2 in phi2 16.031 * [backup-simplify]: Simplify 0 into 0 16.031 * [backup-simplify]: Simplify 1 into 1 16.032 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.032 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.032 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 16.032 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.032 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.032 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.032 * [backup-simplify]: Simplify -0.5 into -0.5 16.032 * [taylor]: Taking taylor expansion of phi1 in phi2 16.032 * [backup-simplify]: Simplify phi1 into phi1 16.032 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.032 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.032 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.033 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.033 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.033 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.033 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.033 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.033 * [backup-simplify]: Simplify lambda2 into lambda2 16.033 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.033 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.034 * [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)) 16.034 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.034 * [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)) 16.034 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in phi2 16.034 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 16.034 * [taylor]: Taking taylor expansion of 2 in phi2 16.034 * [backup-simplify]: Simplify 2 into 2 16.034 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 16.034 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 16.035 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.035 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.035 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.035 * [backup-simplify]: Simplify -0.5 into -0.5 16.035 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.035 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.035 * [taylor]: Taking taylor expansion of phi1 in phi2 16.035 * [backup-simplify]: Simplify phi1 into phi1 16.035 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.035 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.035 * [taylor]: Taking taylor expansion of phi2 in phi2 16.035 * [backup-simplify]: Simplify 0 into 0 16.035 * [backup-simplify]: Simplify 1 into 1 16.035 * [backup-simplify]: Simplify (/ 1 1) into 1 16.036 * [backup-simplify]: Simplify (+ 0 1) into 1 16.036 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.037 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.037 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 16.037 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.037 * [backup-simplify]: Simplify lambda2 into lambda2 16.037 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.037 * [backup-simplify]: Simplify lambda1 into lambda1 16.037 * [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) 16.037 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.038 * [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)) 16.038 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in phi2 16.038 * [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 16.038 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 16.038 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.038 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.038 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.038 * [backup-simplify]: Simplify -0.5 into -0.5 16.038 * [taylor]: Taking taylor expansion of phi1 in phi2 16.038 * [backup-simplify]: Simplify phi1 into phi1 16.038 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.038 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.038 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.038 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 16.038 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.038 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.038 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.038 * [backup-simplify]: Simplify -0.5 into -0.5 16.038 * [taylor]: Taking taylor expansion of phi2 in phi2 16.038 * [backup-simplify]: Simplify 0 into 0 16.038 * [backup-simplify]: Simplify 1 into 1 16.039 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.039 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.039 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 16.039 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.039 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.039 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.039 * [backup-simplify]: Simplify -0.5 into -0.5 16.039 * [taylor]: Taking taylor expansion of phi2 in phi2 16.039 * [backup-simplify]: Simplify 0 into 0 16.039 * [backup-simplify]: Simplify 1 into 1 16.040 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.040 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.040 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.040 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.040 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.040 * [backup-simplify]: Simplify -0.5 into -0.5 16.040 * [taylor]: Taking taylor expansion of phi1 in phi2 16.040 * [backup-simplify]: Simplify phi1 into phi1 16.040 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.040 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.040 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.040 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.040 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.040 * [backup-simplify]: Simplify lambda2 into lambda2 16.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.041 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.041 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.041 * [backup-simplify]: Simplify (- 0) into 0 16.041 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.042 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 16.042 * [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)))) 16.042 * [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))))) 16.042 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.043 * [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)) 16.043 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in phi2 16.043 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi2 16.043 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 16.043 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.043 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.043 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.043 * [backup-simplify]: Simplify -0.5 into -0.5 16.043 * [taylor]: Taking taylor expansion of phi1 in phi2 16.043 * [backup-simplify]: Simplify phi1 into phi1 16.043 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.043 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.043 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.044 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 16.044 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.044 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.044 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.044 * [backup-simplify]: Simplify -0.5 into -0.5 16.044 * [taylor]: Taking taylor expansion of phi2 in phi2 16.044 * [backup-simplify]: Simplify 0 into 0 16.044 * [backup-simplify]: Simplify 1 into 1 16.045 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.045 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.045 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 16.045 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.045 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.045 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.045 * [backup-simplify]: Simplify -0.5 into -0.5 16.045 * [taylor]: Taking taylor expansion of phi2 in phi2 16.045 * [backup-simplify]: Simplify 0 into 0 16.045 * [backup-simplify]: Simplify 1 into 1 16.045 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.046 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.046 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.046 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.046 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.046 * [backup-simplify]: Simplify -0.5 into -0.5 16.046 * [taylor]: Taking taylor expansion of phi1 in phi2 16.046 * [backup-simplify]: Simplify phi1 into phi1 16.046 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.046 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.046 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.046 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.046 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.046 * [backup-simplify]: Simplify lambda1 into lambda1 16.046 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.046 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.047 * [backup-simplify]: Simplify (- 0) into 0 16.047 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.047 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.047 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.047 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.047 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 16.048 * [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)))) 16.048 * [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))))) 16.048 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.049 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) 16.049 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in phi2 16.049 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 16.049 * [taylor]: Taking taylor expansion of 2 in phi2 16.049 * [backup-simplify]: Simplify 2 into 2 16.049 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 16.049 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 16.049 * [taylor]: Taking taylor expansion of phi2 in phi2 16.049 * [backup-simplify]: Simplify 0 into 0 16.049 * [backup-simplify]: Simplify 1 into 1 16.049 * [taylor]: Taking taylor expansion of phi1 in phi2 16.049 * [backup-simplify]: Simplify phi1 into phi1 16.049 * [backup-simplify]: Simplify (* 0 phi1) into 0 16.049 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 16.050 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.050 * [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 lambda1 2))) in phi2 16.050 * [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 16.050 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 16.050 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.050 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.050 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.050 * [backup-simplify]: Simplify -0.5 into -0.5 16.050 * [taylor]: Taking taylor expansion of phi1 in phi2 16.050 * [backup-simplify]: Simplify phi1 into phi1 16.050 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.050 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.050 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.050 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 16.050 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.050 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.050 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.050 * [backup-simplify]: Simplify -0.5 into -0.5 16.050 * [taylor]: Taking taylor expansion of phi2 in phi2 16.050 * [backup-simplify]: Simplify 0 into 0 16.050 * [backup-simplify]: Simplify 1 into 1 16.051 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.051 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.051 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 16.051 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.051 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.051 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.051 * [backup-simplify]: Simplify -0.5 into -0.5 16.051 * [taylor]: Taking taylor expansion of phi2 in phi2 16.051 * [backup-simplify]: Simplify 0 into 0 16.051 * [backup-simplify]: Simplify 1 into 1 16.052 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.052 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.052 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.052 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.052 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.052 * [backup-simplify]: Simplify -0.5 into -0.5 16.052 * [taylor]: Taking taylor expansion of phi1 in phi2 16.052 * [backup-simplify]: Simplify phi1 into phi1 16.052 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.052 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.052 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.052 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.052 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.052 * [backup-simplify]: Simplify lambda2 into lambda2 16.052 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.052 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.053 * [backup-simplify]: Simplify (- 0) into 0 16.053 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.053 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.053 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.053 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.053 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 16.054 * [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)))) 16.054 * [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))))) 16.054 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.055 * [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)) 16.055 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi2 16.055 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 16.055 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.055 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.055 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.055 * [backup-simplify]: Simplify -0.5 into -0.5 16.055 * [taylor]: Taking taylor expansion of phi1 in phi2 16.055 * [backup-simplify]: Simplify phi1 into phi1 16.055 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.055 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.055 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.055 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 16.055 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.055 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.055 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.055 * [backup-simplify]: Simplify -0.5 into -0.5 16.055 * [taylor]: Taking taylor expansion of phi2 in phi2 16.055 * [backup-simplify]: Simplify 0 into 0 16.055 * [backup-simplify]: Simplify 1 into 1 16.056 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.056 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.056 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 16.056 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.057 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.057 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.057 * [backup-simplify]: Simplify -0.5 into -0.5 16.057 * [taylor]: Taking taylor expansion of phi2 in phi2 16.057 * [backup-simplify]: Simplify 0 into 0 16.057 * [backup-simplify]: Simplify 1 into 1 16.057 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.057 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.057 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.057 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.057 * [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 phi1 in phi2 16.058 * [backup-simplify]: Simplify phi1 into phi1 16.058 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.058 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.058 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.058 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.058 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.058 * [backup-simplify]: Simplify lambda1 into lambda1 16.058 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.058 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.058 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.058 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.059 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.059 * [backup-simplify]: Simplify (- 0) into 0 16.059 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.059 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 16.060 * [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)))) 16.060 * [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))))) 16.060 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.060 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 16.061 * [backup-simplify]: Simplify (+ 1 0) into 1 16.061 * [backup-simplify]: Simplify (+ 1 0) into 1 16.062 * [backup-simplify]: Simplify (sqrt 1) into 1 16.062 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.063 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 16.064 * [backup-simplify]: Simplify (+ 0 0) into 0 16.064 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 16.064 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 16.064 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 16.064 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 16.064 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 16.064 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 16.064 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 16.065 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 16.065 * [taylor]: Taking taylor expansion of 1 in phi1 16.065 * [backup-simplify]: Simplify 1 into 1 16.065 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 16.065 * [taylor]: Taking taylor expansion of -1 in phi1 16.065 * [backup-simplify]: Simplify -1 into -1 16.065 * [taylor]: Taking taylor expansion of phi1 in phi1 16.065 * [backup-simplify]: Simplify 0 into 0 16.065 * [backup-simplify]: Simplify 1 into 1 16.066 * [backup-simplify]: Simplify (/ -1 1) into -1 16.066 * [taylor]: Taking taylor expansion of -1 in lambda1 16.066 * [backup-simplify]: Simplify -1 into -1 16.066 * [taylor]: Taking taylor expansion of 1 in lambda1 16.066 * [backup-simplify]: Simplify 1 into 1 16.067 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 16.068 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 16.070 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) 16.072 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 16.074 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) 16.078 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) 16.081 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) 16.082 * [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))) 16.087 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 16.088 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 16.088 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 16.089 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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 lambda1 2))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) 16.091 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) 16.093 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))) 16.096 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (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)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2))))) 16.100 * [backup-simplify]: Simplify (+ (* 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)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)))))) into (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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)))))) 16.104 * [backup-simplify]: Simplify (- (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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))))))) into (- (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2))))))) 16.110 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))))))) 16.115 * [backup-simplify]: Simplify (/ (- (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))))))) (pow (/ -1 phi1) 2) (+)) (* 2 1)) into (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) 16.115 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) in phi1 16.115 * [taylor]: Taking taylor expansion of 1/2 in phi1 16.115 * [backup-simplify]: Simplify 1/2 into 1/2 16.115 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in phi1 16.116 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi1 16.116 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 16.116 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 16.116 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 16.116 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.116 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.116 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.116 * [backup-simplify]: Simplify -0.5 into -0.5 16.116 * [taylor]: Taking taylor expansion of phi2 in phi1 16.116 * [backup-simplify]: Simplify phi2 into phi2 16.116 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.116 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.116 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.116 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.116 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.116 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.116 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 16.116 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.116 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.116 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.116 * [backup-simplify]: Simplify -0.5 into -0.5 16.116 * [taylor]: Taking taylor expansion of phi1 in phi1 16.116 * [backup-simplify]: Simplify 0 into 0 16.116 * [backup-simplify]: Simplify 1 into 1 16.117 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.117 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.117 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.117 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.117 * [backup-simplify]: Simplify lambda1 into lambda1 16.117 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.117 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.117 * [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)) 16.117 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.117 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 16.117 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 16.117 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 16.118 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 16.118 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 16.118 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.118 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.118 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.118 * [backup-simplify]: Simplify -0.5 into -0.5 16.118 * [taylor]: Taking taylor expansion of phi2 in phi1 16.118 * [backup-simplify]: Simplify phi2 into phi2 16.118 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.118 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.118 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.118 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.118 * [backup-simplify]: Simplify (- 0) into 0 16.118 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.118 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 16.118 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.118 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.118 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.118 * [backup-simplify]: Simplify -0.5 into -0.5 16.118 * [taylor]: Taking taylor expansion of phi1 in phi1 16.118 * [backup-simplify]: Simplify 0 into 0 16.119 * [backup-simplify]: Simplify 1 into 1 16.119 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.119 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.119 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.119 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.119 * [backup-simplify]: Simplify lambda2 into lambda2 16.119 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.119 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.120 * [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)) 16.120 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.120 * [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)) 16.120 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 16.120 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 16.120 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 16.120 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 16.120 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.120 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.120 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.120 * [backup-simplify]: Simplify -0.5 into -0.5 16.120 * [taylor]: Taking taylor expansion of phi2 in phi1 16.120 * [backup-simplify]: Simplify phi2 into phi2 16.120 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.120 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.120 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.120 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.120 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.121 * [backup-simplify]: Simplify (- 0) into 0 16.121 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.121 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 16.121 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.121 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.121 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.121 * [backup-simplify]: Simplify -0.5 into -0.5 16.121 * [taylor]: Taking taylor expansion of phi1 in phi1 16.121 * [backup-simplify]: Simplify 0 into 0 16.121 * [backup-simplify]: Simplify 1 into 1 16.121 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.121 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.121 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.121 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.121 * [backup-simplify]: Simplify lambda1 into lambda1 16.122 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.122 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.122 * [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)) 16.122 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.122 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 16.122 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 16.122 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 16.122 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 16.122 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.122 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.122 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.122 * [backup-simplify]: Simplify -0.5 into -0.5 16.122 * [taylor]: Taking taylor expansion of phi2 in phi1 16.122 * [backup-simplify]: Simplify phi2 into phi2 16.122 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.122 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.123 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.123 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.123 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.123 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.123 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 16.123 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.123 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.123 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.123 * [backup-simplify]: Simplify -0.5 into -0.5 16.123 * [taylor]: Taking taylor expansion of phi1 in phi1 16.123 * [backup-simplify]: Simplify 0 into 0 16.123 * [backup-simplify]: Simplify 1 into 1 16.123 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.124 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.124 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.124 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.124 * [backup-simplify]: Simplify lambda2 into lambda2 16.124 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.124 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.124 * [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)) 16.124 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.124 * [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)) 16.124 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi1 16.124 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in phi1 16.125 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 16.125 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.125 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.125 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.125 * [backup-simplify]: Simplify -0.5 into -0.5 16.125 * [taylor]: Taking taylor expansion of phi2 in phi1 16.125 * [backup-simplify]: Simplify phi2 into phi2 16.125 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.125 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.125 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.125 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 16.125 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.125 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.125 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.125 * [backup-simplify]: Simplify -0.5 into -0.5 16.125 * [taylor]: Taking taylor expansion of phi1 in phi1 16.125 * [backup-simplify]: Simplify 0 into 0 16.125 * [backup-simplify]: Simplify 1 into 1 16.125 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.125 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.125 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 16.125 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.125 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.125 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.125 * [backup-simplify]: Simplify -0.5 into -0.5 16.125 * [taylor]: Taking taylor expansion of phi1 in phi1 16.125 * [backup-simplify]: Simplify 0 into 0 16.125 * [backup-simplify]: Simplify 1 into 1 16.126 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.126 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.126 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.126 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.126 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.126 * [backup-simplify]: Simplify -0.5 into -0.5 16.126 * [taylor]: Taking taylor expansion of phi2 in phi1 16.126 * [backup-simplify]: Simplify phi2 into phi2 16.126 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.126 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.126 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.126 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.126 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.126 * [backup-simplify]: Simplify lambda1 into lambda1 16.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.126 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.127 * [backup-simplify]: Simplify (- 0) into 0 16.127 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.127 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.127 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.127 * [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)))) 16.127 * [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))))) 16.127 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.128 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) 16.128 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1 16.128 * [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 16.128 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 16.128 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.128 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.128 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.128 * [backup-simplify]: Simplify -0.5 into -0.5 16.128 * [taylor]: Taking taylor expansion of phi2 in phi1 16.128 * [backup-simplify]: Simplify phi2 into phi2 16.128 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.128 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.128 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.128 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 16.128 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.128 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.128 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.128 * [backup-simplify]: Simplify -0.5 into -0.5 16.128 * [taylor]: Taking taylor expansion of phi1 in phi1 16.128 * [backup-simplify]: Simplify 0 into 0 16.128 * [backup-simplify]: Simplify 1 into 1 16.128 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.129 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.129 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 16.129 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.129 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.129 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.129 * [backup-simplify]: Simplify -0.5 into -0.5 16.129 * [taylor]: Taking taylor expansion of phi2 in phi1 16.129 * [backup-simplify]: Simplify phi2 into phi2 16.129 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.129 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.129 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.129 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.129 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.129 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.129 * [backup-simplify]: Simplify -0.5 into -0.5 16.129 * [taylor]: Taking taylor expansion of phi1 in phi1 16.129 * [backup-simplify]: Simplify 0 into 0 16.129 * [backup-simplify]: Simplify 1 into 1 16.129 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.129 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.129 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.129 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.129 * [backup-simplify]: Simplify lambda2 into lambda2 16.129 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.129 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.130 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.130 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.130 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.130 * [backup-simplify]: Simplify (- 0) into 0 16.130 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.130 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 16.130 * [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)))) 16.130 * [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))))) 16.130 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.131 * [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)) 16.131 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 16.131 * [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 phi1 16.131 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 16.131 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.131 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.131 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.131 * [backup-simplify]: Simplify -0.5 into -0.5 16.131 * [taylor]: Taking taylor expansion of phi2 in phi1 16.131 * [backup-simplify]: Simplify phi2 into phi2 16.131 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.131 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.131 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.131 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 16.131 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.131 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.131 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.131 * [backup-simplify]: Simplify -0.5 into -0.5 16.131 * [taylor]: Taking taylor expansion of phi1 in phi1 16.131 * [backup-simplify]: Simplify 0 into 0 16.131 * [backup-simplify]: Simplify 1 into 1 16.132 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.132 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.132 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 16.132 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.132 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.132 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.132 * [backup-simplify]: Simplify -0.5 into -0.5 16.132 * [taylor]: Taking taylor expansion of phi2 in phi1 16.132 * [backup-simplify]: Simplify phi2 into phi2 16.132 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.132 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.132 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.132 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.132 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.132 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.132 * [backup-simplify]: Simplify -0.5 into -0.5 16.132 * [taylor]: Taking taylor expansion of phi1 in phi1 16.132 * [backup-simplify]: Simplify 0 into 0 16.132 * [backup-simplify]: Simplify 1 into 1 16.132 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.132 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.132 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.132 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.132 * [backup-simplify]: Simplify lambda2 into lambda2 16.133 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.133 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.133 * [backup-simplify]: Simplify (- 0) into 0 16.133 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.133 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.133 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.133 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.133 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 16.133 * [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)))) 16.134 * [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))))) 16.134 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.134 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 16.134 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 16.134 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in phi1 16.134 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in phi1 16.134 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.134 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.134 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.134 * [backup-simplify]: Simplify -0.5 into -0.5 16.134 * [taylor]: Taking taylor expansion of phi1 in phi1 16.134 * [backup-simplify]: Simplify 0 into 0 16.134 * [backup-simplify]: Simplify 1 into 1 16.134 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.134 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.134 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in phi1 16.135 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.135 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.135 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.135 * [backup-simplify]: Simplify -0.5 into -0.5 16.135 * [taylor]: Taking taylor expansion of phi1 in phi1 16.135 * [backup-simplify]: Simplify 0 into 0 16.135 * [backup-simplify]: Simplify 1 into 1 16.135 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.135 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.135 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in phi1 16.135 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.135 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.135 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.135 * [backup-simplify]: Simplify -0.5 into -0.5 16.135 * [taylor]: Taking taylor expansion of phi2 in phi1 16.135 * [backup-simplify]: Simplify phi2 into phi2 16.135 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.135 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.135 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.135 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.135 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.135 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.135 * [backup-simplify]: Simplify -0.5 into -0.5 16.135 * [taylor]: Taking taylor expansion of phi2 in phi1 16.135 * [backup-simplify]: Simplify phi2 into phi2 16.135 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.135 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.136 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.136 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.136 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.136 * [backup-simplify]: Simplify lambda1 into lambda1 16.136 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.136 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.136 * [backup-simplify]: Simplify (- 0) into 0 16.136 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.136 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.136 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.136 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.136 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 16.136 * [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)))) 16.137 * [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))))) 16.137 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.137 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) 16.137 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 16.137 * [taylor]: Taking taylor expansion of 2 in phi1 16.137 * [backup-simplify]: Simplify 2 into 2 16.137 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 16.137 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.137 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.137 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.137 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.137 * [backup-simplify]: Simplify -0.5 into -0.5 16.137 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.137 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.137 * [taylor]: Taking taylor expansion of phi1 in phi1 16.137 * [backup-simplify]: Simplify 0 into 0 16.137 * [backup-simplify]: Simplify 1 into 1 16.138 * [backup-simplify]: Simplify (/ 1 1) into 1 16.138 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.138 * [taylor]: Taking taylor expansion of phi2 in phi1 16.138 * [backup-simplify]: Simplify phi2 into phi2 16.138 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.138 * [backup-simplify]: Simplify (+ 1 0) into 1 16.138 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.138 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.138 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.138 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.138 * [backup-simplify]: Simplify lambda2 into lambda2 16.138 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.138 * [backup-simplify]: Simplify lambda1 into lambda1 16.139 * [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) 16.139 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.139 * [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)) 16.139 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)))) into 0 16.139 * [taylor]: Taking taylor expansion of 0 in lambda1 16.139 * [backup-simplify]: Simplify 0 into 0 16.139 * [taylor]: Taking taylor expansion of 0 in lambda1 16.139 * [backup-simplify]: Simplify 0 into 0 16.139 * [taylor]: Taking taylor expansion of -1 in lambda2 16.139 * [backup-simplify]: Simplify -1 into -1 16.140 * [taylor]: Taking taylor expansion of 1 in lambda2 16.140 * [backup-simplify]: Simplify 1 into 1 16.140 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 16.141 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 16.141 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 16.141 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 16.141 * [backup-simplify]: Simplify (+ 0) into 0 16.141 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.142 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.142 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.143 * [backup-simplify]: Simplify (+ 0 0) into 0 16.143 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 16.143 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 16.143 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 16.143 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.144 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 16.144 * [backup-simplify]: Simplify (+ 0) into 0 16.144 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.144 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.145 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.145 * [backup-simplify]: Simplify (- 0) into 0 16.146 * [backup-simplify]: Simplify (+ 0 0) into 0 16.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 16.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 16.146 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 16.146 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.146 * [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 16.147 * [backup-simplify]: Simplify (+ 0) into 0 16.147 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.147 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.148 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.148 * [backup-simplify]: Simplify (- 0) into 0 16.148 * [backup-simplify]: Simplify (+ 0 0) into 0 16.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 16.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 16.149 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 16.149 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.150 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 16.150 * [backup-simplify]: Simplify (+ 0) into 0 16.150 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.150 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.151 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.152 * [backup-simplify]: Simplify (+ 0 0) into 0 16.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 16.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 16.152 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 16.152 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.152 * [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 16.153 * [backup-simplify]: Simplify (+ 0 0) into 0 16.153 * [backup-simplify]: Simplify (+ 0 0) into 0 16.153 * [backup-simplify]: Simplify (+ 0 0) into 0 16.153 * [backup-simplify]: Simplify (+ 0 0) into 0 16.154 * [backup-simplify]: Simplify (+ 0 0) into 0 16.154 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 16.154 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 16.154 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 16.155 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 16.155 * [backup-simplify]: Simplify (+ 0) into 0 16.156 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.156 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.157 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.157 * [backup-simplify]: Simplify (- 0) into 0 16.158 * [backup-simplify]: Simplify (+ 0 0) into 0 16.158 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 16.158 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 16.159 * [backup-simplify]: Simplify (+ 0) into 0 16.159 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.159 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.161 * [backup-simplify]: Simplify (+ 0 0) into 0 16.161 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 16.161 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.162 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 16.163 * [backup-simplify]: Simplify (+ 0) into 0 16.163 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.163 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.165 * [backup-simplify]: Simplify (+ 0 0) into 0 16.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 16.166 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 16.166 * [backup-simplify]: Simplify (+ 0) into 0 16.166 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.167 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.168 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.168 * [backup-simplify]: Simplify (- 0) into 0 16.169 * [backup-simplify]: Simplify (+ 0 0) into 0 16.169 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 16.169 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.170 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 16.171 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 phi1)))) into 0 16.171 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 16.172 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ 1 phi1)))) into 0 16.173 * [backup-simplify]: Simplify (+ 0) into 0 16.173 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.173 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.174 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.175 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.175 * [backup-simplify]: Simplify (+ 0 0) into 0 16.176 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 16.176 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 16.176 * [backup-simplify]: Simplify (+ 0) into 0 16.177 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.177 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.178 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.178 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.179 * [backup-simplify]: Simplify (- 0) into 0 16.179 * [backup-simplify]: Simplify (+ 0 0) into 0 16.180 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 16.180 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.181 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 16.181 * [backup-simplify]: Simplify (+ 0) into 0 16.181 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.182 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.183 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.183 * [backup-simplify]: Simplify (- 0) into 0 16.184 * [backup-simplify]: Simplify (+ 0 0) into 0 16.184 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 16.184 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 16.185 * [backup-simplify]: Simplify (+ 0) into 0 16.185 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.185 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.186 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.187 * [backup-simplify]: Simplify (+ 0 0) into 0 16.187 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 16.187 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.188 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 16.189 * [backup-simplify]: Simplify (+ 0 0) into 0 16.189 * [backup-simplify]: Simplify (+ 0 0) into 0 16.189 * [backup-simplify]: Simplify (+ 0 0) into 0 16.190 * [backup-simplify]: Simplify (+ 0 0) into 0 16.190 * [backup-simplify]: Simplify (+ 0 0) into 0 16.190 * [backup-simplify]: Simplify (- 0) into 0 16.191 * [backup-simplify]: Simplify (+ 0 0) into 0 16.202 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (/ -1 phi1) (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 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 (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))))))))) 16.202 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))))))))) in phi1 16.202 * [taylor]: Taking taylor expansion of 1/2 in phi1 16.202 * [backup-simplify]: Simplify 1/2 into 1/2 16.202 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2)))))))) in phi1 16.202 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))))) in phi1 16.202 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) in phi1 16.202 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 16.202 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 16.203 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.203 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.203 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.203 * [backup-simplify]: Simplify -0.5 into -0.5 16.203 * [taylor]: Taking taylor expansion of phi2 in phi1 16.203 * [backup-simplify]: Simplify phi2 into phi2 16.203 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.203 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.203 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.203 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.203 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.203 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 16.203 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.203 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.203 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.203 * [backup-simplify]: Simplify -0.5 into -0.5 16.204 * [taylor]: Taking taylor expansion of phi1 in phi1 16.204 * [backup-simplify]: Simplify 0 into 0 16.204 * [backup-simplify]: Simplify 1 into 1 16.204 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.204 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.204 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 16.204 * [taylor]: Taking taylor expansion of phi1 in phi1 16.204 * [backup-simplify]: Simplify 0 into 0 16.204 * [backup-simplify]: Simplify 1 into 1 16.204 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.204 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.204 * [backup-simplify]: Simplify lambda2 into lambda2 16.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.205 * [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)) 16.205 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.206 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 16.206 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.206 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 16.207 * [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)) 16.207 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))))) in phi1 16.207 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) in phi1 16.207 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 16.207 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 16.207 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.207 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.207 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.207 * [backup-simplify]: Simplify -0.5 into -0.5 16.207 * [taylor]: Taking taylor expansion of phi2 in phi1 16.207 * [backup-simplify]: Simplify phi2 into phi2 16.207 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.207 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.207 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.208 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.208 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 16.208 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.208 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.208 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.208 * [backup-simplify]: Simplify -0.5 into -0.5 16.208 * [taylor]: Taking taylor expansion of phi1 in phi1 16.208 * [backup-simplify]: Simplify 0 into 0 16.208 * [backup-simplify]: Simplify 1 into 1 16.208 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.209 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.209 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 16.209 * [taylor]: Taking taylor expansion of phi1 in phi1 16.209 * [backup-simplify]: Simplify 0 into 0 16.209 * [backup-simplify]: Simplify 1 into 1 16.209 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.209 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.209 * [backup-simplify]: Simplify lambda1 into lambda1 16.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.209 * [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)) 16.210 * [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 (+ (* lambda1 0) (* 0 lambda1)) into 0 16.210 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 16.211 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 16.211 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))) in phi1 16.211 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) in phi1 16.211 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 16.211 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 16.211 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.211 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.211 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.211 * [backup-simplify]: Simplify -0.5 into -0.5 16.211 * [taylor]: Taking taylor expansion of phi2 in phi1 16.211 * [backup-simplify]: Simplify phi2 into phi2 16.211 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.211 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.211 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.211 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.212 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.212 * [backup-simplify]: Simplify (- 0) into 0 16.212 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.212 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 16.212 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.212 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.212 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.212 * [backup-simplify]: Simplify -0.5 into -0.5 16.212 * [taylor]: Taking taylor expansion of phi1 in phi1 16.212 * [backup-simplify]: Simplify 0 into 0 16.212 * [backup-simplify]: Simplify 1 into 1 16.213 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.213 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.213 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 16.213 * [taylor]: Taking taylor expansion of phi1 in phi1 16.213 * [backup-simplify]: Simplify 0 into 0 16.213 * [backup-simplify]: Simplify 1 into 1 16.213 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.213 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.213 * [backup-simplify]: Simplify lambda1 into lambda1 16.213 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.214 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.214 * [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)) 16.214 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.215 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 16.215 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.215 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 16.216 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 16.216 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) in phi1 16.216 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 16.216 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 16.216 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.216 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.216 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.216 * [backup-simplify]: Simplify -0.5 into -0.5 16.216 * [taylor]: Taking taylor expansion of phi2 in phi1 16.216 * [backup-simplify]: Simplify phi2 into phi2 16.216 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.216 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.216 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.216 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.217 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.217 * [backup-simplify]: Simplify (- 0) into 0 16.217 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.217 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 16.217 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.217 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.218 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.218 * [backup-simplify]: Simplify -0.5 into -0.5 16.218 * [taylor]: Taking taylor expansion of phi1 in phi1 16.218 * [backup-simplify]: Simplify 0 into 0 16.218 * [backup-simplify]: Simplify 1 into 1 16.218 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.218 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.218 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 16.218 * [taylor]: Taking taylor expansion of phi1 in phi1 16.219 * [backup-simplify]: Simplify 0 into 0 16.219 * [backup-simplify]: Simplify 1 into 1 16.219 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.219 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.219 * [backup-simplify]: Simplify lambda2 into lambda2 16.219 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.219 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.219 * [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)) 16.219 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.220 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 16.220 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.220 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 16.221 * [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)) 16.221 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))))))) in phi1 16.221 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) in phi1 16.221 * [taylor]: Taking taylor expansion of 2 in phi1 16.221 * [backup-simplify]: Simplify 2 into 2 16.221 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1))) in phi1 16.221 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.221 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.221 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.221 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.221 * [backup-simplify]: Simplify -0.5 into -0.5 16.221 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.221 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.221 * [taylor]: Taking taylor expansion of phi1 in phi1 16.221 * [backup-simplify]: Simplify 0 into 0 16.221 * [backup-simplify]: Simplify 1 into 1 16.222 * [backup-simplify]: Simplify (/ 1 1) into 1 16.222 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.222 * [taylor]: Taking taylor expansion of phi2 in phi1 16.222 * [backup-simplify]: Simplify phi2 into phi2 16.222 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.222 * [backup-simplify]: Simplify (+ 1 0) into 1 16.223 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.223 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.223 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 phi1)) in phi1 16.223 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.223 * [backup-simplify]: Simplify lambda2 into lambda2 16.223 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 16.223 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.223 * [backup-simplify]: Simplify lambda1 into lambda1 16.223 * [taylor]: Taking taylor expansion of phi1 in phi1 16.223 * [backup-simplify]: Simplify 0 into 0 16.223 * [backup-simplify]: Simplify 1 into 1 16.223 * [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) 16.224 * [backup-simplify]: Simplify (* lambda1 0) into 0 16.224 * [backup-simplify]: Simplify (* lambda2 0) into 0 16.224 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 16.224 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 16.225 * [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)) 16.225 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2)))))) in phi1 16.225 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) in phi1 16.225 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 16.225 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.225 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.225 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.225 * [backup-simplify]: Simplify -0.5 into -0.5 16.225 * [taylor]: Taking taylor expansion of phi1 in phi1 16.225 * [backup-simplify]: Simplify 0 into 0 16.225 * [backup-simplify]: Simplify 1 into 1 16.226 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.226 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.226 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 16.226 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.226 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.226 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.226 * [backup-simplify]: Simplify -0.5 into -0.5 16.226 * [taylor]: Taking taylor expansion of phi2 in phi1 16.226 * [backup-simplify]: Simplify phi2 into phi2 16.226 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.226 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.226 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.226 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 16.226 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.226 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.226 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.227 * [backup-simplify]: Simplify -0.5 into -0.5 16.227 * [taylor]: Taking taylor expansion of phi1 in phi1 16.227 * [backup-simplify]: Simplify 0 into 0 16.227 * [backup-simplify]: Simplify 1 into 1 16.227 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.227 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.227 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.227 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.227 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.227 * [backup-simplify]: Simplify -0.5 into -0.5 16.227 * [taylor]: Taking taylor expansion of phi2 in phi1 16.227 * [backup-simplify]: Simplify phi2 into phi2 16.227 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.227 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.228 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.228 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 16.228 * [taylor]: Taking taylor expansion of phi1 in phi1 16.228 * [backup-simplify]: Simplify 0 into 0 16.228 * [backup-simplify]: Simplify 1 into 1 16.228 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.228 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.228 * [backup-simplify]: Simplify lambda1 into lambda1 16.228 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.228 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.228 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.228 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.228 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.229 * [backup-simplify]: Simplify (- 0) into 0 16.229 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.229 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 16.229 * [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)))) 16.230 * [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))))) 16.230 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.230 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 16.230 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.230 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 16.231 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) 16.231 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))))) in phi1 16.231 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) in phi1 16.231 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 16.231 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.231 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.231 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.231 * [backup-simplify]: Simplify -0.5 into -0.5 16.231 * [taylor]: Taking taylor expansion of phi1 in phi1 16.231 * [backup-simplify]: Simplify 0 into 0 16.231 * [backup-simplify]: Simplify 1 into 1 16.232 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.232 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.232 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 16.232 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.232 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.232 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.232 * [backup-simplify]: Simplify -0.5 into -0.5 16.232 * [taylor]: Taking taylor expansion of phi2 in phi1 16.232 * [backup-simplify]: Simplify phi2 into phi2 16.232 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.232 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.232 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.232 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 16.232 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.232 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.233 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.233 * [backup-simplify]: Simplify -0.5 into -0.5 16.233 * [taylor]: Taking taylor expansion of phi1 in phi1 16.233 * [backup-simplify]: Simplify 0 into 0 16.233 * [backup-simplify]: Simplify 1 into 1 16.237 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.238 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.238 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.238 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.238 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.238 * [backup-simplify]: Simplify -0.5 into -0.5 16.238 * [taylor]: Taking taylor expansion of phi2 in phi1 16.238 * [backup-simplify]: Simplify phi2 into phi2 16.238 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.238 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.238 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.238 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 16.238 * [taylor]: Taking taylor expansion of phi1 in phi1 16.238 * [backup-simplify]: Simplify 0 into 0 16.238 * [backup-simplify]: Simplify 1 into 1 16.238 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.238 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.238 * [backup-simplify]: Simplify lambda2 into lambda2 16.238 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.238 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.239 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.239 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.239 * [backup-simplify]: Simplify (- 0) into 0 16.240 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.240 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 16.240 * [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)))) 16.240 * [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))))) 16.240 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.241 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 16.241 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.241 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 16.242 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) 16.242 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2)))) in phi1 16.242 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) in phi1 16.242 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 16.242 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.242 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.242 * [backup-simplify]: Simplify -0.5 into -0.5 16.242 * [taylor]: Taking taylor expansion of phi1 in phi1 16.242 * [backup-simplify]: Simplify 0 into 0 16.242 * [backup-simplify]: Simplify 1 into 1 16.243 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.243 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.243 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 16.243 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.243 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.243 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.243 * [backup-simplify]: Simplify -0.5 into -0.5 16.243 * [taylor]: Taking taylor expansion of phi2 in phi1 16.243 * [backup-simplify]: Simplify phi2 into phi2 16.243 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.243 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.243 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.243 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 16.243 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.243 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.243 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.243 * [backup-simplify]: Simplify -0.5 into -0.5 16.243 * [taylor]: Taking taylor expansion of phi2 in phi1 16.244 * [backup-simplify]: Simplify phi2 into phi2 16.244 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.244 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.244 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.244 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.244 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.244 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.244 * [backup-simplify]: Simplify -0.5 into -0.5 16.244 * [taylor]: Taking taylor expansion of phi1 in phi1 16.244 * [backup-simplify]: Simplify 0 into 0 16.244 * [backup-simplify]: Simplify 1 into 1 16.244 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.245 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.245 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 16.245 * [taylor]: Taking taylor expansion of phi1 in phi1 16.245 * [backup-simplify]: Simplify 0 into 0 16.245 * [backup-simplify]: Simplify 1 into 1 16.245 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.245 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.245 * [backup-simplify]: Simplify lambda2 into lambda2 16.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.245 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.246 * [backup-simplify]: Simplify (- 0) into 0 16.246 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.246 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 16.246 * [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)))) 16.247 * [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))))) 16.247 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.247 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 16.247 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.248 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 16.248 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 16.248 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))) in phi1 16.248 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 16.248 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.248 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.248 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.248 * [backup-simplify]: Simplify -0.5 into -0.5 16.248 * [taylor]: Taking taylor expansion of phi1 in phi1 16.248 * [backup-simplify]: Simplify 0 into 0 16.248 * [backup-simplify]: Simplify 1 into 1 16.249 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.249 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.249 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 16.249 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.249 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.249 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.249 * [backup-simplify]: Simplify -0.5 into -0.5 16.249 * [taylor]: Taking taylor expansion of phi2 in phi1 16.249 * [backup-simplify]: Simplify phi2 into phi2 16.249 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.249 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.249 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.249 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 16.249 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.249 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.249 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.249 * [backup-simplify]: Simplify -0.5 into -0.5 16.250 * [taylor]: Taking taylor expansion of phi2 in phi1 16.250 * [backup-simplify]: Simplify phi2 into phi2 16.250 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.250 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.250 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.250 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.250 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.250 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.250 * [backup-simplify]: Simplify -0.5 into -0.5 16.250 * [taylor]: Taking taylor expansion of phi1 in phi1 16.250 * [backup-simplify]: Simplify 0 into 0 16.250 * [backup-simplify]: Simplify 1 into 1 16.251 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.251 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.251 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 16.251 * [taylor]: Taking taylor expansion of phi1 in phi1 16.251 * [backup-simplify]: Simplify 0 into 0 16.251 * [backup-simplify]: Simplify 1 into 1 16.251 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.251 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.251 * [backup-simplify]: Simplify lambda1 into lambda1 16.251 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.251 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.251 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.251 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.251 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.252 * [backup-simplify]: Simplify (- 0) into 0 16.252 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.252 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 16.253 * [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)))) 16.253 * [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))))) 16.253 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.253 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 16.254 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.254 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 16.255 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 16.256 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 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 (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))) 16.258 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) 16.260 * [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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) 16.261 * [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))) 16.262 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) 16.264 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (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 lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -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)))) 16.267 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -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))))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) 16.270 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))) 16.274 * [backup-simplify]: Simplify (- (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) into (- (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2))))))) 16.281 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 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))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))))) 16.288 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 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))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) into (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -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 lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) 16.288 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -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 lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) in lambda1 16.288 * [taylor]: Taking taylor expansion of 1/2 in lambda1 16.288 * [backup-simplify]: Simplify 1/2 into 1/2 16.288 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -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 lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))))) in lambda1 16.288 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1 16.288 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 16.288 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 16.288 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 16.288 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.288 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.288 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.289 * [backup-simplify]: Simplify -0.5 into -0.5 16.289 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.289 * [backup-simplify]: Simplify phi2 into phi2 16.289 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.289 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.289 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.289 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.289 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.289 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.289 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 16.289 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.289 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.289 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.289 * [backup-simplify]: Simplify -0.5 into -0.5 16.289 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.289 * [backup-simplify]: Simplify phi1 into phi1 16.289 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.289 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.289 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.289 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.289 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.289 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.289 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.289 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.289 * [backup-simplify]: Simplify 0 into 0 16.289 * [backup-simplify]: Simplify 1 into 1 16.290 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.290 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.290 * [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)) 16.290 * [backup-simplify]: Simplify (* 1 1) into 1 16.290 * [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)) 16.291 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 16.291 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 16.291 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 16.291 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 16.291 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.291 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.291 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.291 * [backup-simplify]: Simplify -0.5 into -0.5 16.291 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.291 * [backup-simplify]: Simplify phi2 into phi2 16.291 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.291 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.291 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.291 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.291 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.291 * [backup-simplify]: Simplify (- 0) into 0 16.291 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.291 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 16.291 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.291 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.291 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.291 * [backup-simplify]: Simplify -0.5 into -0.5 16.291 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.291 * [backup-simplify]: Simplify phi1 into phi1 16.292 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.292 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.292 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.292 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.292 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.292 * [backup-simplify]: Simplify (- 0) into 0 16.292 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.292 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.292 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.292 * [backup-simplify]: Simplify lambda2 into lambda2 16.292 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.292 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.292 * [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)) 16.293 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.293 * [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)) 16.293 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 16.293 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 16.293 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 16.293 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 16.293 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.293 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.293 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.293 * [backup-simplify]: Simplify -0.5 into -0.5 16.293 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.293 * [backup-simplify]: Simplify phi2 into phi2 16.293 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.293 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.293 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.293 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.293 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.294 * [backup-simplify]: Simplify (- 0) into 0 16.294 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.294 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 16.294 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.294 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.294 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.294 * [backup-simplify]: Simplify -0.5 into -0.5 16.294 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.294 * [backup-simplify]: Simplify phi1 into phi1 16.294 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.294 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.294 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.294 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.294 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.294 * [backup-simplify]: Simplify (- 0) into 0 16.294 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.294 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.294 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.294 * [backup-simplify]: Simplify 0 into 0 16.294 * [backup-simplify]: Simplify 1 into 1 16.295 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.295 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.295 * [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)) 16.295 * [backup-simplify]: Simplify (* 1 1) into 1 16.295 * [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)) 16.295 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 16.295 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 16.295 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 16.295 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.295 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.295 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.295 * [backup-simplify]: Simplify -0.5 into -0.5 16.295 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.295 * [backup-simplify]: Simplify phi2 into phi2 16.296 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.296 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.296 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.296 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.296 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.296 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.296 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 16.296 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.296 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.296 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.296 * [backup-simplify]: Simplify -0.5 into -0.5 16.296 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.296 * [backup-simplify]: Simplify phi1 into phi1 16.296 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.296 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.296 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.296 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.296 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.296 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.296 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.296 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.296 * [backup-simplify]: Simplify lambda2 into lambda2 16.296 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.297 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.297 * [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)) 16.297 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.297 * [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)) 16.297 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -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 lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))) in lambda1 16.297 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1 16.297 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 16.297 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.297 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.297 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.297 * [backup-simplify]: Simplify -0.5 into -0.5 16.297 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.297 * [backup-simplify]: Simplify phi2 into phi2 16.297 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.297 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.297 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.297 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 16.297 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.297 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.297 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.297 * [backup-simplify]: Simplify -0.5 into -0.5 16.298 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.298 * [backup-simplify]: Simplify phi1 into phi1 16.298 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.298 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.298 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.298 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 16.298 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.298 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.298 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.298 * [backup-simplify]: Simplify -0.5 into -0.5 16.298 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.298 * [backup-simplify]: Simplify phi2 into phi2 16.298 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.298 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.298 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.298 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.298 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.298 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.298 * [backup-simplify]: Simplify -0.5 into -0.5 16.298 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.298 * [backup-simplify]: Simplify phi1 into phi1 16.298 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.298 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.298 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.298 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.298 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.298 * [backup-simplify]: Simplify lambda2 into lambda2 16.298 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.298 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.299 * [backup-simplify]: Simplify (- 0) into 0 16.299 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.299 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.299 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.299 * [backup-simplify]: Simplify (- 0) into 0 16.299 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.299 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.299 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.299 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.300 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.300 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.300 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.300 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 16.300 * [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)))) 16.300 * [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))))) 16.300 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.300 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 16.300 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in lambda1 16.300 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in lambda1 16.300 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1 16.301 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.301 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.301 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.301 * [backup-simplify]: Simplify -0.5 into -0.5 16.301 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.301 * [backup-simplify]: Simplify phi2 into phi2 16.301 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.301 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.301 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.301 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1 16.301 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.301 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.301 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.301 * [backup-simplify]: Simplify -0.5 into -0.5 16.301 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.301 * [backup-simplify]: Simplify phi1 into phi1 16.301 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.301 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.301 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.301 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1 16.301 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.301 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.301 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.301 * [backup-simplify]: Simplify -0.5 into -0.5 16.301 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.301 * [backup-simplify]: Simplify phi1 into phi1 16.301 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.301 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.301 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.301 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.301 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.301 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.301 * [backup-simplify]: Simplify -0.5 into -0.5 16.301 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.301 * [backup-simplify]: Simplify phi2 into phi2 16.301 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.301 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.302 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.302 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.302 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.302 * [backup-simplify]: Simplify 0 into 0 16.302 * [backup-simplify]: Simplify 1 into 1 16.302 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.302 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.302 * [backup-simplify]: Simplify (- 0) into 0 16.302 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.302 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.302 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.302 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.302 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.302 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.303 * [backup-simplify]: Simplify (- 0) into 0 16.303 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.303 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.303 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.303 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.303 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.303 * [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)))) 16.303 * [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))))) 16.304 * [backup-simplify]: Simplify (* 1 1) into 1 16.304 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 16.304 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in lambda1 16.304 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 16.304 * [taylor]: Taking taylor expansion of 2 in lambda1 16.304 * [backup-simplify]: Simplify 2 into 2 16.304 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 16.304 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 16.304 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 16.304 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 16.304 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.304 * [backup-simplify]: Simplify -0.5 into -0.5 16.304 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 16.304 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 16.304 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.304 * [backup-simplify]: Simplify phi1 into phi1 16.304 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.304 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 16.304 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.304 * [backup-simplify]: Simplify phi2 into phi2 16.304 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.304 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.304 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.305 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.305 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.305 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.305 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.305 * [backup-simplify]: Simplify (- 0) into 0 16.305 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.305 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 16.305 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.305 * [backup-simplify]: Simplify lambda2 into lambda2 16.305 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.305 * [backup-simplify]: Simplify 0 into 0 16.305 * [backup-simplify]: Simplify 1 into 1 16.306 * [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) 16.306 * [backup-simplify]: Simplify (* lambda2 0) into 0 16.306 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 16.306 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 16.306 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in lambda1 16.306 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 16.306 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 16.306 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.306 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.306 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.306 * [backup-simplify]: Simplify -0.5 into -0.5 16.307 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.307 * [backup-simplify]: Simplify phi2 into phi2 16.307 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.307 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.307 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.307 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 16.307 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.307 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.307 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.307 * [backup-simplify]: Simplify -0.5 into -0.5 16.307 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.307 * [backup-simplify]: Simplify phi1 into phi1 16.307 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.307 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.307 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.307 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 16.307 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.307 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.307 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.307 * [backup-simplify]: Simplify -0.5 into -0.5 16.307 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.307 * [backup-simplify]: Simplify phi2 into phi2 16.307 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.307 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.307 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.308 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.308 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.308 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.308 * [backup-simplify]: Simplify -0.5 into -0.5 16.308 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.308 * [backup-simplify]: Simplify phi1 into phi1 16.308 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.308 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.308 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.308 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.308 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.308 * [backup-simplify]: Simplify 0 into 0 16.308 * [backup-simplify]: Simplify 1 into 1 16.308 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.308 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.308 * [backup-simplify]: Simplify (- 0) into 0 16.308 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.308 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.308 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.309 * [backup-simplify]: Simplify (- 0) into 0 16.309 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.309 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.309 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.309 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.309 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.309 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.309 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.309 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 16.309 * [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)))) 16.310 * [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))))) 16.310 * [backup-simplify]: Simplify (* 1 1) into 1 16.310 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 16.310 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1 16.310 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 16.310 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.310 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.310 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.310 * [backup-simplify]: Simplify -0.5 into -0.5 16.310 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.310 * [backup-simplify]: Simplify phi2 into phi2 16.310 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.310 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.310 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.310 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 16.310 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.310 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.311 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.311 * [backup-simplify]: Simplify -0.5 into -0.5 16.311 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.311 * [backup-simplify]: Simplify phi1 into phi1 16.311 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.311 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.311 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.311 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 16.311 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.311 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.311 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.311 * [backup-simplify]: Simplify -0.5 into -0.5 16.311 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.311 * [backup-simplify]: Simplify phi2 into phi2 16.311 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.311 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.311 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.311 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.311 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.311 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.311 * [backup-simplify]: Simplify -0.5 into -0.5 16.311 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.311 * [backup-simplify]: Simplify phi1 into phi1 16.311 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.311 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.311 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.311 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.311 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.311 * [backup-simplify]: Simplify lambda2 into lambda2 16.311 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.311 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.311 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.312 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.312 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.312 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.312 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.312 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.312 * [backup-simplify]: Simplify (- 0) into 0 16.312 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.312 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.312 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.313 * [backup-simplify]: Simplify (- 0) into 0 16.313 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.313 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 16.313 * [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)))) 16.313 * [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))))) 16.313 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.313 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 16.314 * [backup-simplify]: Simplify (+ 0) into 0 16.314 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.314 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.315 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.315 * [backup-simplify]: Simplify (+ 0 0) into 0 16.315 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 16.315 * [backup-simplify]: Simplify (+ 0) into 0 16.316 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.316 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.316 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.317 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.317 * [backup-simplify]: Simplify (+ 0 0) into 0 16.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 16.317 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 16.318 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.318 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 16.319 * [backup-simplify]: Simplify (+ 0) into 0 16.319 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.319 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.319 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.320 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.320 * [backup-simplify]: Simplify (- 0) into 0 16.320 * [backup-simplify]: Simplify (+ 0 0) into 0 16.320 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 16.321 * [backup-simplify]: Simplify (+ 0) into 0 16.321 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.321 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.322 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.322 * [backup-simplify]: Simplify (- 0) into 0 16.322 * [backup-simplify]: Simplify (+ 0 0) into 0 16.322 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 16.323 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 16.323 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.324 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 16.324 * [backup-simplify]: Simplify (+ 0 0) into 0 16.324 * [backup-simplify]: Simplify (+ 0 0) into 0 16.324 * [backup-simplify]: Simplify (+ 0 0) into 0 16.325 * [backup-simplify]: Simplify (+ 0) into 0 16.325 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.325 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.325 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.326 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.326 * [backup-simplify]: Simplify (+ 0 0) into 0 16.326 * [backup-simplify]: Simplify (+ 0) into 0 16.326 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.327 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.327 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.327 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.328 * [backup-simplify]: Simplify (- 0) into 0 16.328 * [backup-simplify]: Simplify (+ 0 0) into 0 16.328 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 16.328 * [backup-simplify]: Simplify (+ 0) into 0 16.328 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.329 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.329 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.329 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.330 * [backup-simplify]: Simplify (+ 0 0) into 0 16.330 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 16.330 * [backup-simplify]: Simplify (+ 0) into 0 16.330 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.330 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.331 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.331 * [backup-simplify]: Simplify (- 0) into 0 16.332 * [backup-simplify]: Simplify (+ 0 0) into 0 16.332 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 16.332 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.333 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (/ 0 1)))) into 0 16.333 * [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)) 16.333 * [backup-simplify]: Simplify (+ 0) into 0 16.334 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.334 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.334 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.335 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.335 * [backup-simplify]: Simplify (+ 0 0) into 0 16.335 * [backup-simplify]: Simplify (+ 0) into 0 16.335 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.336 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.337 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.337 * [backup-simplify]: Simplify (+ 0 0) into 0 16.337 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 16.338 * [backup-simplify]: Simplify (+ 0) into 0 16.338 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.338 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.339 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.340 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.340 * [backup-simplify]: Simplify (- 0) into 0 16.340 * [backup-simplify]: Simplify (+ 0 0) into 0 16.341 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 16.341 * [backup-simplify]: Simplify (+ 0) into 0 16.342 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.342 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.343 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.343 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.343 * [backup-simplify]: Simplify (- 0) into 0 16.344 * [backup-simplify]: Simplify (+ 0 0) into 0 16.344 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 16.345 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.346 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0 16.347 * [backup-simplify]: Simplify (+ 0 0) into 0 16.347 * [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)) 16.348 * [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)) 16.348 * [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)) 16.349 * [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))) 16.349 * [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))) 16.350 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 0) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 16.350 * [backup-simplify]: Simplify (+ 0 (* (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)) 16.351 * [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))) 16.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 16.352 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (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))))) 16.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) 16.354 * [backup-simplify]: Simplify (+ 0 (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (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))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 16.355 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) 16.356 * [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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -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))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) 16.357 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 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 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) into (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 16.357 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 16.358 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 16.358 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 16.358 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 16.358 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 16.358 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.358 * [backup-simplify]: Simplify -0.5 into -0.5 16.358 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 16.358 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 16.358 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.358 * [backup-simplify]: Simplify phi1 into phi1 16.358 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.358 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 16.358 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.358 * [backup-simplify]: Simplify phi2 into phi2 16.358 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.358 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.358 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.358 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.358 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.358 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.358 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.359 * [backup-simplify]: Simplify (- 0) into 0 16.359 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.359 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.359 * [backup-simplify]: Simplify 0 into 0 16.359 * [backup-simplify]: Simplify 1 into 1 16.359 * [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) 16.359 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.360 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 16.360 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 16.361 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) 16.361 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 16.363 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) 16.363 * [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))) 16.364 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 16.365 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 16.366 * [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 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 16.369 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 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)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))) 16.371 * [backup-simplify]: Simplify (- (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))))) 16.375 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) 16.384 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))))) into (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))))) 16.384 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))))) in lambda1 16.384 * [taylor]: Taking taylor expansion of 1/2 in lambda1 16.384 * [backup-simplify]: Simplify 1/2 into 1/2 16.384 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) in lambda1 16.384 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1 16.384 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 16.384 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 16.384 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 16.384 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.384 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.384 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.384 * [backup-simplify]: Simplify -0.5 into -0.5 16.384 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.384 * [backup-simplify]: Simplify phi2 into phi2 16.384 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.384 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.384 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.385 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.385 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.385 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.385 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 16.385 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.385 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.385 * [backup-simplify]: Simplify -0.5 into -0.5 16.385 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.385 * [backup-simplify]: Simplify phi1 into phi1 16.385 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.385 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.385 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.385 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.385 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.385 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.385 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.385 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.385 * [backup-simplify]: Simplify 0 into 0 16.385 * [backup-simplify]: Simplify 1 into 1 16.385 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.385 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.386 * [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)) 16.386 * [backup-simplify]: Simplify (* 1 1) into 1 16.386 * [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)) 16.386 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 16.387 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 16.387 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 16.387 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 16.387 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.387 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.387 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.387 * [backup-simplify]: Simplify -0.5 into -0.5 16.387 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.387 * [backup-simplify]: Simplify phi2 into phi2 16.387 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.387 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.387 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.387 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.387 * [backup-simplify]: Simplify (- 0) into 0 16.387 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.387 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 16.387 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.387 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.387 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.387 * [backup-simplify]: Simplify -0.5 into -0.5 16.388 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.388 * [backup-simplify]: Simplify phi1 into phi1 16.388 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.388 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.388 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.388 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.388 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.388 * [backup-simplify]: Simplify (- 0) into 0 16.388 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.388 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.388 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.388 * [backup-simplify]: Simplify lambda2 into lambda2 16.388 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.388 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.389 * [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)) 16.389 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.389 * [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)) 16.389 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 16.389 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 16.389 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 16.389 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 16.389 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.389 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.389 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.389 * [backup-simplify]: Simplify -0.5 into -0.5 16.389 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.389 * [backup-simplify]: Simplify phi2 into phi2 16.389 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.389 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.389 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.389 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.389 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.390 * [backup-simplify]: Simplify (- 0) into 0 16.390 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.390 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 16.390 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.390 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.390 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.390 * [backup-simplify]: Simplify -0.5 into -0.5 16.390 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.390 * [backup-simplify]: Simplify phi1 into phi1 16.390 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.390 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.390 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.390 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.390 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.391 * [backup-simplify]: Simplify (- 0) into 0 16.391 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.391 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.391 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.391 * [backup-simplify]: Simplify 0 into 0 16.391 * [backup-simplify]: Simplify 1 into 1 16.391 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.391 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.391 * [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)) 16.391 * [backup-simplify]: Simplify (* 1 1) into 1 16.392 * [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)) 16.392 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 16.392 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 16.392 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 16.392 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.392 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.392 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.392 * [backup-simplify]: Simplify -0.5 into -0.5 16.392 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.392 * [backup-simplify]: Simplify phi2 into phi2 16.392 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.392 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.392 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.392 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.392 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.392 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.392 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 16.392 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.392 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.392 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.392 * [backup-simplify]: Simplify -0.5 into -0.5 16.392 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.392 * [backup-simplify]: Simplify phi1 into phi1 16.392 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.393 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.393 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.393 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.393 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.393 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.393 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.393 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.393 * [backup-simplify]: Simplify lambda2 into lambda2 16.393 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.393 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.393 * [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)) 16.393 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.394 * [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)) 16.394 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))) in lambda1 16.394 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 16.394 * [taylor]: Taking taylor expansion of 2 in lambda1 16.394 * [backup-simplify]: Simplify 2 into 2 16.394 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 16.394 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 16.394 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 16.394 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 16.394 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.394 * [backup-simplify]: Simplify -0.5 into -0.5 16.394 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 16.394 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 16.394 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.394 * [backup-simplify]: Simplify phi1 into phi1 16.394 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.394 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 16.394 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.394 * [backup-simplify]: Simplify phi2 into phi2 16.394 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.394 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.394 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.394 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.394 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.395 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.395 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.395 * [backup-simplify]: Simplify (- 0) into 0 16.395 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.395 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 16.395 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.395 * [backup-simplify]: Simplify lambda2 into lambda2 16.395 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.395 * [backup-simplify]: Simplify 0 into 0 16.395 * [backup-simplify]: Simplify 1 into 1 16.396 * [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) 16.396 * [backup-simplify]: Simplify (* lambda2 0) into 0 16.396 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 16.396 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 16.396 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))) in lambda1 16.396 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) in lambda1 16.396 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1 16.396 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.396 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.396 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.396 * [backup-simplify]: Simplify -0.5 into -0.5 16.396 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.396 * [backup-simplify]: Simplify phi1 into phi1 16.396 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.396 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.396 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.397 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1 16.397 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.397 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.397 * [backup-simplify]: Simplify -0.5 into -0.5 16.397 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.397 * [backup-simplify]: Simplify phi2 into phi2 16.397 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.397 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.397 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1 16.397 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.397 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.397 * [backup-simplify]: Simplify -0.5 into -0.5 16.397 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.397 * [backup-simplify]: Simplify phi1 into phi1 16.397 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.397 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.397 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.397 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.397 * [backup-simplify]: Simplify -0.5 into -0.5 16.397 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.397 * [backup-simplify]: Simplify phi2 into phi2 16.397 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.397 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.397 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.397 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.397 * [backup-simplify]: Simplify lambda2 into lambda2 16.397 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.398 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.398 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.398 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.398 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.398 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.398 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.398 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.398 * [backup-simplify]: Simplify (- 0) into 0 16.398 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.398 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.399 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.399 * [backup-simplify]: Simplify (- 0) into 0 16.399 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.399 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 16.399 * [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)))) 16.399 * [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))))) 16.399 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.400 * [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)) 16.400 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))) in lambda1 16.400 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 16.400 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 16.400 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.400 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.400 * [backup-simplify]: Simplify -0.5 into -0.5 16.400 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.400 * [backup-simplify]: Simplify phi2 into phi2 16.400 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.400 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 16.400 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.400 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.400 * [backup-simplify]: Simplify -0.5 into -0.5 16.400 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.400 * [backup-simplify]: Simplify phi1 into phi1 16.400 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.400 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 16.400 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.400 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.400 * [backup-simplify]: Simplify -0.5 into -0.5 16.401 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.401 * [backup-simplify]: Simplify phi2 into phi2 16.401 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.401 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.401 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.401 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.401 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.401 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.401 * [backup-simplify]: Simplify -0.5 into -0.5 16.401 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.401 * [backup-simplify]: Simplify phi1 into phi1 16.401 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.401 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.401 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.401 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.401 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.401 * [backup-simplify]: Simplify 0 into 0 16.401 * [backup-simplify]: Simplify 1 into 1 16.401 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.401 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.402 * [backup-simplify]: Simplify (- 0) into 0 16.402 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.402 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.402 * [backup-simplify]: Simplify (- 0) into 0 16.402 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.402 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.402 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.402 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.403 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.403 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 16.403 * [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)))) 16.403 * [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))))) 16.403 * [backup-simplify]: Simplify (* 1 1) into 1 16.404 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 16.404 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))) in lambda1 16.404 * [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 16.404 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda1 16.404 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.404 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.404 * [backup-simplify]: Simplify -0.5 into -0.5 16.404 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.404 * [backup-simplify]: Simplify phi2 into phi2 16.404 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.404 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda1 16.404 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.404 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.404 * [backup-simplify]: Simplify -0.5 into -0.5 16.404 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.404 * [backup-simplify]: Simplify phi2 into phi2 16.404 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.405 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda1 16.405 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.405 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.405 * [backup-simplify]: Simplify -0.5 into -0.5 16.405 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.405 * [backup-simplify]: Simplify phi1 into phi1 16.405 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.405 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.405 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.405 * [backup-simplify]: Simplify -0.5 into -0.5 16.405 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.405 * [backup-simplify]: Simplify phi1 into phi1 16.405 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.405 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.405 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.405 * [backup-simplify]: Simplify lambda2 into lambda2 16.405 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.405 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.405 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.406 * [backup-simplify]: Simplify (- 0) into 0 16.406 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.406 * [backup-simplify]: Simplify (- 0) into 0 16.407 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.407 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.407 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.407 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.407 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 16.407 * [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)))) 16.407 * [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))))) 16.407 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.408 * [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)) 16.408 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 16.408 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 16.408 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.408 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.408 * [backup-simplify]: Simplify -0.5 into -0.5 16.408 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.408 * [backup-simplify]: Simplify phi1 into phi1 16.408 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.408 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.408 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.408 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 16.408 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.408 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.408 * [backup-simplify]: Simplify -0.5 into -0.5 16.408 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.408 * [backup-simplify]: Simplify phi2 into phi2 16.408 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.408 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.408 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.408 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 16.408 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.408 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.408 * [backup-simplify]: Simplify -0.5 into -0.5 16.408 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.408 * [backup-simplify]: Simplify phi2 into phi2 16.408 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.409 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.409 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.409 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.409 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.409 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.409 * [backup-simplify]: Simplify -0.5 into -0.5 16.409 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.409 * [backup-simplify]: Simplify phi1 into phi1 16.409 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.409 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.409 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.409 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.409 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.409 * [backup-simplify]: Simplify 0 into 0 16.409 * [backup-simplify]: Simplify 1 into 1 16.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.409 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.410 * [backup-simplify]: Simplify (- 0) into 0 16.410 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.410 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.410 * [backup-simplify]: Simplify (- 0) into 0 16.410 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 16.411 * [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)))) 16.411 * [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))))) 16.411 * [backup-simplify]: Simplify (* 1 1) into 1 16.411 * [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))))) 16.412 * [backup-simplify]: Simplify (+ 0) into 0 16.412 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.412 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.412 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.413 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.413 * [backup-simplify]: Simplify (+ 0 0) into 0 16.413 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 16.413 * [backup-simplify]: Simplify (+ 0) into 0 16.414 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.414 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.414 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.414 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.415 * [backup-simplify]: Simplify (+ 0 0) into 0 16.415 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 16.415 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 16.415 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.416 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 16.416 * [backup-simplify]: Simplify (+ 0) into 0 16.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.417 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.418 * [backup-simplify]: Simplify (- 0) into 0 16.418 * [backup-simplify]: Simplify (+ 0 0) into 0 16.418 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 16.418 * [backup-simplify]: Simplify (+ 0) into 0 16.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.419 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.420 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.420 * [backup-simplify]: Simplify (- 0) into 0 16.420 * [backup-simplify]: Simplify (+ 0 0) into 0 16.420 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 16.420 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 16.421 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.422 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 16.422 * [backup-simplify]: Simplify (+ 0 0) into 0 16.422 * [backup-simplify]: Simplify (+ 0 0) into 0 16.422 * [backup-simplify]: Simplify (+ 0 0) into 0 16.423 * [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)) 16.423 * [backup-simplify]: Simplify (+ 0) into 0 16.423 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.423 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.424 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.424 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.424 * [backup-simplify]: Simplify (+ 0 0) into 0 16.425 * [backup-simplify]: Simplify (+ 0) into 0 16.425 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.425 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.426 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.427 * [backup-simplify]: Simplify (+ 0 0) into 0 16.427 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 16.427 * [backup-simplify]: Simplify (+ 0) into 0 16.427 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.428 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.428 * [backup-simplify]: Simplify (- 0) into 0 16.429 * [backup-simplify]: Simplify (+ 0 0) into 0 16.429 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 16.429 * [backup-simplify]: Simplify (+ 0) into 0 16.429 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.430 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.430 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.431 * [backup-simplify]: Simplify (- 0) into 0 16.431 * [backup-simplify]: Simplify (+ 0 0) into 0 16.431 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 16.431 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.432 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0 16.432 * [backup-simplify]: Simplify (+ 0) into 0 16.433 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.433 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.434 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.434 * [backup-simplify]: Simplify (- 0) into 0 16.434 * [backup-simplify]: Simplify (+ 0 0) into 0 16.434 * [backup-simplify]: Simplify (+ 0) into 0 16.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.435 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.435 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.435 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.436 * [backup-simplify]: Simplify (+ 0 0) into 0 16.436 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 16.436 * [backup-simplify]: Simplify (+ 0) into 0 16.436 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.437 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.437 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.438 * [backup-simplify]: Simplify (- 0) into 0 16.438 * [backup-simplify]: Simplify (+ 0 0) into 0 16.438 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 16.438 * [backup-simplify]: Simplify (+ 0) into 0 16.438 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.439 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.439 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.440 * [backup-simplify]: Simplify (+ 0 0) into 0 16.440 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 16.440 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.441 * [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 16.441 * [backup-simplify]: Simplify (+ 0 0) into 0 16.441 * [backup-simplify]: Simplify (+ 0 0) into 0 16.442 * [backup-simplify]: Simplify (+ 0 0) into 0 16.442 * [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)) 16.442 * [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))) 16.442 * [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))) 16.443 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 0) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 16.443 * [backup-simplify]: Simplify (+ 0 (* (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)) 16.443 * [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))) 16.444 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (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))))) 16.444 * [backup-simplify]: Simplify (+ (* (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 (+ (* (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)))))) 16.445 * [backup-simplify]: Simplify (+ 0 (+ (* (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 (+ (* (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)))))) 16.445 * [backup-simplify]: Simplify (+ 0 (+ (* (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)))))) 16.446 * [backup-simplify]: Simplify (- (+ (* (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 (- (+ (* (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))))))) 16.447 * [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))) (- (+ (* (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 (- (+ (* (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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) 16.448 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 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 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 (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 16.448 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 16.448 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 16.448 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 16.448 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 16.448 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 16.448 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.448 * [backup-simplify]: Simplify -0.5 into -0.5 16.448 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 16.448 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 16.448 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.448 * [backup-simplify]: Simplify phi1 into phi1 16.448 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.448 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 16.448 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.448 * [backup-simplify]: Simplify phi2 into phi2 16.448 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.448 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.448 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.449 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.449 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.449 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.449 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.449 * [backup-simplify]: Simplify (- 0) into 0 16.449 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.449 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.449 * [backup-simplify]: Simplify 0 into 0 16.449 * [backup-simplify]: Simplify 1 into 1 16.450 * [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) 16.450 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.450 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 16.450 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 16.451 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 16.451 * [taylor]: Taking taylor expansion of 0 in lambda1 16.451 * [backup-simplify]: Simplify 0 into 0 16.451 * [taylor]: Taking taylor expansion of 0 in lambda1 16.451 * [backup-simplify]: Simplify 0 into 0 16.451 * [taylor]: Taking taylor expansion of 0 in lambda2 16.451 * [backup-simplify]: Simplify 0 into 0 16.451 * [taylor]: Taking taylor expansion of 0 in lambda2 16.451 * [backup-simplify]: Simplify 0 into 0 16.451 * [taylor]: Taking taylor expansion of 0 in lambda2 16.451 * [backup-simplify]: Simplify 0 into 0 16.451 * [taylor]: Taking taylor expansion of 0 in lambda2 16.451 * [backup-simplify]: Simplify 0 into 0 16.451 * [backup-simplify]: Simplify -1 into -1 16.452 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* (/ 1 (/ 1 (- phi1))) 1)))) (+ (* (- (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2)) (* (/ 1 (/ 1 (- lambda2))) (* (/ 1 (/ 1 (- lambda1))) (* 1 (/ 1 (- phi2)))))) (* (- (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2)) (* (/ 1 (/ 1 (- lambda2))) (* (/ 1 (/ 1 (- lambda1))) (* (/ 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)) 16.453 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2 2 1 1) 16.453 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 16.453 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0 16.453 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 16.453 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 16.453 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.453 * [backup-simplify]: Simplify 0.5 into 0.5 16.453 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 16.453 * [taylor]: Taking taylor expansion of phi2 in phi1 16.453 * [backup-simplify]: Simplify phi2 into phi2 16.453 * [taylor]: Taking taylor expansion of phi1 in phi1 16.453 * [backup-simplify]: Simplify 0 into 0 16.453 * [backup-simplify]: Simplify 1 into 1 16.453 * [backup-simplify]: Simplify (+ phi2 0) into phi2 16.453 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.453 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.453 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.453 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 16.453 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 16.453 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.453 * [backup-simplify]: Simplify 0.5 into 0.5 16.453 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 16.453 * [taylor]: Taking taylor expansion of phi2 in phi2 16.453 * [backup-simplify]: Simplify 0 into 0 16.453 * [backup-simplify]: Simplify 1 into 1 16.453 * [taylor]: Taking taylor expansion of phi1 in phi2 16.453 * [backup-simplify]: Simplify phi1 into phi1 16.453 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 16.453 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.453 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.453 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.453 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 16.453 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 16.453 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.453 * [backup-simplify]: Simplify 0.5 into 0.5 16.453 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 16.453 * [taylor]: Taking taylor expansion of phi2 in phi2 16.454 * [backup-simplify]: Simplify 0 into 0 16.454 * [backup-simplify]: Simplify 1 into 1 16.454 * [taylor]: Taking taylor expansion of phi1 in phi2 16.454 * [backup-simplify]: Simplify phi1 into phi1 16.454 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 16.454 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.454 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.454 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.454 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.454 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.454 * [backup-simplify]: Simplify (- 0) into 0 16.454 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.454 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.454 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.454 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.454 * [backup-simplify]: Simplify 0.5 into 0.5 16.454 * [taylor]: Taking taylor expansion of phi1 in phi1 16.454 * [backup-simplify]: Simplify 0 into 0 16.454 * [backup-simplify]: Simplify 1 into 1 16.455 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.456 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.456 * [backup-simplify]: Simplify 1 into 1 16.456 * [backup-simplify]: Simplify (+ 0) into 0 16.456 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.456 * [backup-simplify]: Simplify (+ 1 0) into 1 16.457 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 16.458 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.459 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 16.459 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 16.459 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 16.459 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 16.459 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 16.459 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.459 * [backup-simplify]: Simplify 0.5 into 0.5 16.459 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.459 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.459 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.459 * [backup-simplify]: Simplify 0.5 into 0.5 16.459 * [taylor]: Taking taylor expansion of phi1 in phi1 16.459 * [backup-simplify]: Simplify 0 into 0 16.459 * [backup-simplify]: Simplify 1 into 1 16.459 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.460 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.461 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.461 * [backup-simplify]: Simplify (- 0) into 0 16.461 * [backup-simplify]: Simplify 0 into 0 16.461 * [backup-simplify]: Simplify (+ 0) into 0 16.461 * [backup-simplify]: Simplify 0 into 0 16.463 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.464 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 16.464 * [backup-simplify]: Simplify (+ 0 0) into 0 16.464 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 16.465 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.465 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 16.465 * [backup-simplify]: Simplify (- 0) into 0 16.466 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 16.466 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1 16.466 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1 16.466 * [taylor]: Taking taylor expansion of 0.125 in phi1 16.466 * [backup-simplify]: Simplify 0.125 into 0.125 16.466 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.466 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.466 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.466 * [backup-simplify]: Simplify 0.5 into 0.5 16.466 * [taylor]: Taking taylor expansion of phi1 in phi1 16.466 * [backup-simplify]: Simplify 0 into 0 16.466 * [backup-simplify]: Simplify 1 into 1 16.466 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.467 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.467 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 16.468 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 16.468 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 16.469 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.470 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 16.470 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 16.471 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 16.471 * [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)))) 16.471 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.471 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 16.472 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.472 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.472 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.472 * [backup-simplify]: Simplify 0.5 into 0.5 16.472 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.472 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.472 * [taylor]: Taking taylor expansion of phi1 in phi1 16.472 * [backup-simplify]: Simplify 0 into 0 16.472 * [backup-simplify]: Simplify 1 into 1 16.472 * [backup-simplify]: Simplify (/ 1 1) into 1 16.472 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.472 * [taylor]: Taking taylor expansion of phi2 in phi1 16.472 * [backup-simplify]: Simplify phi2 into phi2 16.472 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.472 * [backup-simplify]: Simplify (+ 1 0) into 1 16.473 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.473 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.473 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.473 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.473 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.473 * [backup-simplify]: Simplify 0.5 into 0.5 16.473 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.473 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.473 * [taylor]: Taking taylor expansion of phi1 in phi2 16.473 * [backup-simplify]: Simplify phi1 into phi1 16.473 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.473 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.473 * [taylor]: Taking taylor expansion of phi2 in phi2 16.473 * [backup-simplify]: Simplify 0 into 0 16.473 * [backup-simplify]: Simplify 1 into 1 16.473 * [backup-simplify]: Simplify (/ 1 1) into 1 16.473 * [backup-simplify]: Simplify (+ 0 1) into 1 16.474 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.474 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.474 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.474 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.474 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.474 * [backup-simplify]: Simplify 0.5 into 0.5 16.474 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.474 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.474 * [taylor]: Taking taylor expansion of phi1 in phi2 16.474 * [backup-simplify]: Simplify phi1 into phi1 16.474 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.474 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.474 * [taylor]: Taking taylor expansion of phi2 in phi2 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 16.475 * [backup-simplify]: Simplify (+ 0 1) into 1 16.475 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.475 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.475 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.475 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.475 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.475 * [backup-simplify]: Simplify 0.5 into 0.5 16.475 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.475 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.475 * [taylor]: Taking taylor expansion of phi1 in phi1 16.475 * [backup-simplify]: Simplify 0 into 0 16.475 * [backup-simplify]: Simplify 1 into 1 16.476 * [backup-simplify]: Simplify (/ 1 1) into 1 16.476 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.476 * [taylor]: Taking taylor expansion of phi2 in phi1 16.476 * [backup-simplify]: Simplify phi2 into phi2 16.476 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.477 * [backup-simplify]: Simplify (+ 1 0) into 1 16.477 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.477 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.478 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.478 * [taylor]: Taking taylor expansion of 0 in phi1 16.478 * [backup-simplify]: Simplify 0 into 0 16.478 * [backup-simplify]: Simplify 0 into 0 16.478 * [backup-simplify]: Simplify 0 into 0 16.478 * [taylor]: Taking taylor expansion of 0 in phi1 16.478 * [backup-simplify]: Simplify 0 into 0 16.478 * [backup-simplify]: Simplify 0 into 0 16.478 * [backup-simplify]: Simplify 0 into 0 16.478 * [backup-simplify]: Simplify 0 into 0 16.478 * [taylor]: Taking taylor expansion of 0 in phi1 16.478 * [backup-simplify]: Simplify 0 into 0 16.478 * [backup-simplify]: Simplify 0 into 0 16.478 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 16.478 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.479 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 16.479 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.479 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.479 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.479 * [backup-simplify]: Simplify -0.5 into -0.5 16.479 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.479 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.479 * [taylor]: Taking taylor expansion of phi1 in phi1 16.479 * [backup-simplify]: Simplify 0 into 0 16.479 * [backup-simplify]: Simplify 1 into 1 16.479 * [backup-simplify]: Simplify (/ 1 1) into 1 16.479 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.479 * [taylor]: Taking taylor expansion of phi2 in phi1 16.479 * [backup-simplify]: Simplify phi2 into phi2 16.479 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.480 * [backup-simplify]: Simplify (+ 1 0) into 1 16.480 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.480 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.480 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.480 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.480 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.481 * [backup-simplify]: Simplify -0.5 into -0.5 16.481 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.481 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.481 * [taylor]: Taking taylor expansion of phi1 in phi2 16.481 * [backup-simplify]: Simplify phi1 into phi1 16.481 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.481 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.481 * [taylor]: Taking taylor expansion of phi2 in phi2 16.481 * [backup-simplify]: Simplify 0 into 0 16.481 * [backup-simplify]: Simplify 1 into 1 16.481 * [backup-simplify]: Simplify (/ 1 1) into 1 16.482 * [backup-simplify]: Simplify (+ 0 1) into 1 16.482 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.482 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.482 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.482 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.482 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.482 * [backup-simplify]: Simplify -0.5 into -0.5 16.482 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.482 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.482 * [taylor]: Taking taylor expansion of phi1 in phi2 16.483 * [backup-simplify]: Simplify phi1 into phi1 16.483 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.483 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.483 * [taylor]: Taking taylor expansion of phi2 in phi2 16.483 * [backup-simplify]: Simplify 0 into 0 16.483 * [backup-simplify]: Simplify 1 into 1 16.483 * [backup-simplify]: Simplify (/ 1 1) into 1 16.483 * [backup-simplify]: Simplify (+ 0 1) into 1 16.484 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.484 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.484 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.484 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.484 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.484 * [backup-simplify]: Simplify -0.5 into -0.5 16.484 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.484 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.484 * [taylor]: Taking taylor expansion of phi1 in phi1 16.484 * [backup-simplify]: Simplify 0 into 0 16.484 * [backup-simplify]: Simplify 1 into 1 16.485 * [backup-simplify]: Simplify (/ 1 1) into 1 16.485 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.485 * [taylor]: Taking taylor expansion of phi2 in phi1 16.485 * [backup-simplify]: Simplify phi2 into phi2 16.485 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.485 * [backup-simplify]: Simplify (+ 1 0) into 1 16.486 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.486 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.486 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.486 * [taylor]: Taking taylor expansion of 0 in phi1 16.486 * [backup-simplify]: Simplify 0 into 0 16.486 * [backup-simplify]: Simplify 0 into 0 16.486 * [backup-simplify]: Simplify 0 into 0 16.486 * [taylor]: Taking taylor expansion of 0 in phi1 16.486 * [backup-simplify]: Simplify 0 into 0 16.486 * [backup-simplify]: Simplify 0 into 0 16.487 * [backup-simplify]: Simplify 0 into 0 16.487 * [backup-simplify]: Simplify 0 into 0 16.487 * [taylor]: Taking taylor expansion of 0 in phi1 16.487 * [backup-simplify]: Simplify 0 into 0 16.487 * [backup-simplify]: Simplify 0 into 0 16.487 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 16.487 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1) 16.489 * [backup-simplify]: Simplify (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) 16.489 * [approximate]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (phi2 phi1 lambda1 lambda2) around 0 16.489 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 16.489 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda2 16.489 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2 16.489 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 16.489 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 16.489 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 16.489 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.489 * [backup-simplify]: Simplify 0.5 into 0.5 16.489 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.489 * [backup-simplify]: Simplify phi2 into phi2 16.489 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.489 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.489 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.490 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 16.490 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 16.490 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 16.490 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2 16.490 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 16.490 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 16.490 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 16.490 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.490 * [backup-simplify]: Simplify 0.5 into 0.5 16.490 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.490 * [backup-simplify]: Simplify phi1 into phi1 16.490 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.490 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.490 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.490 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.490 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.490 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.491 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.491 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.491 * [backup-simplify]: Simplify lambda1 into lambda1 16.491 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda2 16.491 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 16.491 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 16.491 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 16.491 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 16.491 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.491 * [backup-simplify]: Simplify 0.5 into 0.5 16.491 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.491 * [backup-simplify]: Simplify phi2 into phi2 16.491 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.491 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.491 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.491 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 16.491 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 16.491 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 16.491 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 16.491 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.492 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.492 * [backup-simplify]: Simplify 0 into 0 16.492 * [backup-simplify]: Simplify 1 into 1 16.492 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 16.492 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 16.492 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 16.492 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.492 * [backup-simplify]: Simplify 0.5 into 0.5 16.492 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.492 * [backup-simplify]: Simplify phi1 into phi1 16.492 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.492 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.492 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.492 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.492 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.492 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.492 * [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)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda2 16.492 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 16.492 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 16.492 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 16.492 * [taylor]: Taking taylor expansion of (* 0.5 phi2) 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 phi2 in lambda2 16.493 * [backup-simplify]: Simplify phi2 into phi2 16.493 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.493 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.493 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.493 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 16.493 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 16.494 * [backup-simplify]: Simplify (- 0) into 0 16.494 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 16.494 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 16.494 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 16.494 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 16.494 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 16.494 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.494 * [backup-simplify]: Simplify 0.5 into 0.5 16.494 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.494 * [backup-simplify]: Simplify phi1 into phi1 16.494 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.494 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.494 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.494 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.494 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.495 * [backup-simplify]: Simplify (- 0) into 0 16.495 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.495 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.495 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.495 * [backup-simplify]: Simplify 0 into 0 16.495 * [backup-simplify]: Simplify 1 into 1 16.495 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2 16.495 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 16.495 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 16.495 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 16.495 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.495 * [backup-simplify]: Simplify 0.5 into 0.5 16.495 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.495 * [backup-simplify]: Simplify phi2 into phi2 16.495 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.495 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.495 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.496 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 16.496 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 16.496 * [backup-simplify]: Simplify (- 0) into 0 16.496 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 16.496 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2 16.496 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 16.496 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 16.496 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 16.496 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.496 * [backup-simplify]: Simplify 0.5 into 0.5 16.496 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.496 * [backup-simplify]: Simplify phi1 into phi1 16.497 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.497 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.497 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.497 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.497 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.502 * [backup-simplify]: Simplify (- 0) into 0 16.502 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.503 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.503 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.503 * [backup-simplify]: Simplify lambda1 into lambda1 16.503 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 16.503 * [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 16.503 * [taylor]: Taking taylor expansion of 2 in lambda2 16.503 * [backup-simplify]: Simplify 2 into 2 16.503 * [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 16.503 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 16.503 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 16.503 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.503 * [backup-simplify]: Simplify 0.5 into 0.5 16.503 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.503 * [backup-simplify]: Simplify phi2 into phi2 16.503 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.503 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.503 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.504 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 16.504 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 16.504 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 16.504 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.504 * [backup-simplify]: Simplify 0.5 into 0.5 16.504 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.504 * [backup-simplify]: Simplify phi2 into phi2 16.504 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.504 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.504 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.504 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 16.504 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 16.504 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 16.504 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.504 * [backup-simplify]: Simplify 0.5 into 0.5 16.504 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.505 * [backup-simplify]: Simplify phi1 into phi1 16.505 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.505 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.505 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.505 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 16.505 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 16.505 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 16.505 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.505 * [backup-simplify]: Simplify 0.5 into 0.5 16.505 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.505 * [backup-simplify]: Simplify phi1 into phi1 16.505 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.505 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.505 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.505 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.505 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.505 * [backup-simplify]: Simplify 0 into 0 16.505 * [backup-simplify]: Simplify 1 into 1 16.505 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 16.505 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda2 16.505 * [taylor]: Taking taylor expansion of 2 in lambda2 16.506 * [backup-simplify]: Simplify 2 into 2 16.506 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda2 16.506 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 16.506 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 16.506 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.506 * [backup-simplify]: Simplify 0.5 into 0.5 16.506 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.506 * [backup-simplify]: Simplify phi2 into phi2 16.506 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.506 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.506 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.506 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda2 16.506 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 16.506 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 16.506 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.506 * [backup-simplify]: Simplify 0.5 into 0.5 16.506 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.506 * [backup-simplify]: Simplify phi2 into phi2 16.506 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.506 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.506 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.506 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda2 16.507 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 16.507 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 16.507 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.507 * [backup-simplify]: Simplify 0.5 into 0.5 16.507 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.507 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.507 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda2 16.507 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 16.507 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 16.507 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.507 * [backup-simplify]: Simplify 0.5 into 0.5 16.507 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.507 * [backup-simplify]: Simplify phi1 into phi1 16.508 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.508 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.508 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.508 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.508 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.508 * [backup-simplify]: Simplify lambda1 into lambda1 16.508 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 16.508 * [taylor]: Taking taylor expansion of 2 in lambda2 16.508 * [backup-simplify]: Simplify 2 into 2 16.508 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 16.508 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.508 * [backup-simplify]: Simplify 0 into 0 16.508 * [backup-simplify]: Simplify 1 into 1 16.508 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 16.508 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 16.508 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 16.508 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 16.508 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.508 * [backup-simplify]: Simplify 0.5 into 0.5 16.508 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 16.508 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.508 * [backup-simplify]: Simplify phi2 into phi2 16.508 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.508 * [backup-simplify]: Simplify phi1 into phi1 16.508 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 16.508 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 16.509 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 16.509 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 16.509 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 16.509 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 16.510 * [backup-simplify]: Simplify (- 0) into 0 16.510 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 16.510 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.510 * [backup-simplify]: Simplify lambda1 into lambda1 16.510 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 16.510 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda1 16.510 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda1 16.510 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1 16.510 * [taylor]: Taking taylor expansion of (sin (* 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 (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.511 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.511 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 16.511 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 16.511 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 16.511 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda1 16.511 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1 16.511 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 16.511 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 16.511 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.511 * [backup-simplify]: Simplify 0.5 into 0.5 16.511 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.511 * [backup-simplify]: Simplify phi1 into phi1 16.511 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.511 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.511 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.511 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.512 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.512 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.512 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.512 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.512 * [backup-simplify]: Simplify 0 into 0 16.512 * [backup-simplify]: Simplify 1 into 1 16.512 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda1 16.512 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda1 16.512 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1 16.512 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 16.512 * [taylor]: Taking taylor expansion of (* 0.5 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 phi2 in lambda1 16.512 * [backup-simplify]: Simplify phi2 into phi2 16.512 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.512 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.512 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.513 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 16.513 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 16.513 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 16.513 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda1 16.513 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.513 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.513 * [backup-simplify]: Simplify lambda2 into lambda2 16.513 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1 16.513 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 16.513 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 16.513 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.513 * [backup-simplify]: Simplify 0.5 into 0.5 16.513 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.513 * [backup-simplify]: Simplify phi1 into phi1 16.513 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.513 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.513 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.513 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.514 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.514 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.514 * [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)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda1 16.514 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda1 16.514 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1 16.514 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 16.514 * [taylor]: Taking taylor expansion of (* 0.5 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 phi2 in lambda1 16.514 * [backup-simplify]: Simplify phi2 into phi2 16.514 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.514 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.514 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.514 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 16.514 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 16.515 * [backup-simplify]: Simplify (- 0) into 0 16.515 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 16.515 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda1 16.515 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1 16.515 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 16.515 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 16.515 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.515 * [backup-simplify]: Simplify 0.5 into 0.5 16.515 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.515 * [backup-simplify]: Simplify phi1 into phi1 16.515 * [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 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.516 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.516 * [backup-simplify]: Simplify (- 0) into 0 16.516 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.516 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.516 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.516 * [backup-simplify]: Simplify lambda2 into lambda2 16.516 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda1 16.516 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1 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 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 16.517 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 16.517 * [backup-simplify]: Simplify (- 0) into 0 16.518 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 16.518 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda1 16.518 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1 16.518 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 16.518 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 16.518 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.518 * [backup-simplify]: Simplify 0.5 into 0.5 16.518 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.518 * [backup-simplify]: Simplify phi1 into phi1 16.518 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.518 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.518 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.518 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.518 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.519 * [backup-simplify]: Simplify (- 0) into 0 16.519 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.519 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.519 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.519 * [backup-simplify]: Simplify 0 into 0 16.519 * [backup-simplify]: Simplify 1 into 1 16.519 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 16.519 * [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 16.519 * [taylor]: Taking taylor expansion of 2 in lambda1 16.519 * [backup-simplify]: Simplify 2 into 2 16.519 * [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 16.519 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 16.519 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 16.519 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.519 * [backup-simplify]: Simplify 0.5 into 0.5 16.519 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.519 * [backup-simplify]: Simplify phi2 into phi2 16.519 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.519 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.520 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.520 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda1 16.520 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 16.520 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 16.520 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.520 * [backup-simplify]: Simplify 0.5 into 0.5 16.520 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.520 * [backup-simplify]: Simplify phi2 into phi2 16.520 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.520 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.520 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.520 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda1 16.520 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 16.520 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 16.520 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.520 * [backup-simplify]: Simplify 0.5 into 0.5 16.520 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.520 * [backup-simplify]: Simplify phi1 into phi1 16.520 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.520 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.520 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.521 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda1 16.521 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 16.521 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 16.521 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.521 * [backup-simplify]: Simplify 0.5 into 0.5 16.521 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.521 * [backup-simplify]: Simplify phi1 into phi1 16.521 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.521 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.521 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.521 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.521 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.521 * [backup-simplify]: Simplify lambda2 into lambda2 16.521 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 16.521 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda1 16.521 * [taylor]: Taking taylor expansion of 2 in lambda1 16.521 * [backup-simplify]: Simplify 2 into 2 16.521 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda1 16.521 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 16.521 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 16.521 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.521 * [backup-simplify]: Simplify 0.5 into 0.5 16.521 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.521 * [backup-simplify]: Simplify phi2 into phi2 16.521 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.522 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.522 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.522 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda1 16.522 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 16.522 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 16.522 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.522 * [backup-simplify]: Simplify 0.5 into 0.5 16.522 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.522 * [backup-simplify]: Simplify phi2 into phi2 16.522 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.522 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.522 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.522 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda1 16.522 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 16.522 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 16.522 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.522 * [backup-simplify]: Simplify 0.5 into 0.5 16.522 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.522 * [backup-simplify]: Simplify phi1 into phi1 16.522 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.522 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.523 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.523 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda1 16.523 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 16.523 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 16.523 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.523 * [backup-simplify]: Simplify 0.5 into 0.5 16.523 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.523 * [backup-simplify]: Simplify phi1 into phi1 16.523 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.523 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.523 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.523 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.523 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.523 * [backup-simplify]: Simplify 0 into 0 16.523 * [backup-simplify]: Simplify 1 into 1 16.523 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 16.523 * [taylor]: Taking taylor expansion of 2 in lambda1 16.523 * [backup-simplify]: Simplify 2 into 2 16.523 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 16.523 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.523 * [backup-simplify]: Simplify lambda2 into lambda2 16.523 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 16.523 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 16.523 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 16.523 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 16.523 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.523 * [backup-simplify]: Simplify 0.5 into 0.5 16.524 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 16.524 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.524 * [backup-simplify]: Simplify phi2 into phi2 16.524 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.524 * [backup-simplify]: Simplify phi1 into phi1 16.524 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 16.524 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 16.524 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 16.524 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 16.524 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 16.524 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 16.524 * [backup-simplify]: Simplify (- 0) into 0 16.524 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 16.524 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.524 * [backup-simplify]: Simplify 0 into 0 16.524 * [backup-simplify]: Simplify 1 into 1 16.524 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 16.525 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi1 16.525 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 16.525 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 16.525 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 16.525 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 16.525 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.525 * [backup-simplify]: Simplify 0.5 into 0.5 16.525 * [taylor]: Taking taylor expansion of phi2 in phi1 16.525 * [backup-simplify]: Simplify phi2 into phi2 16.525 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.525 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.525 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.525 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 16.525 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 16.525 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 16.525 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.525 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.525 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.525 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.525 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.525 * [backup-simplify]: Simplify 0.5 into 0.5 16.525 * [taylor]: Taking taylor expansion of phi1 in phi1 16.525 * [backup-simplify]: Simplify 0 into 0 16.525 * [backup-simplify]: Simplify 1 into 1 16.525 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.526 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.528 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.528 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.528 * [backup-simplify]: Simplify lambda1 into lambda1 16.528 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi1 16.528 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1 16.528 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 16.528 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 16.528 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 16.528 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.528 * [backup-simplify]: Simplify 0.5 into 0.5 16.528 * [taylor]: Taking taylor expansion of phi2 in phi1 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) (pow (sin (* 0.5 phi1)) 2)) in phi1 16.528 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.528 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.528 * [backup-simplify]: Simplify lambda2 into lambda2 16.528 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.528 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.528 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.528 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.529 * [backup-simplify]: Simplify 0.5 into 0.5 16.529 * [taylor]: Taking taylor expansion of phi1 in phi1 16.529 * [backup-simplify]: Simplify 0 into 0 16.529 * [backup-simplify]: Simplify 1 into 1 16.529 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.530 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.531 * [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)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi1 16.531 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 16.531 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 16.531 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 16.531 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 16.531 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.531 * [backup-simplify]: Simplify 0.5 into 0.5 16.531 * [taylor]: Taking taylor expansion of phi2 in phi1 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)) 16.532 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 16.532 * [backup-simplify]: Simplify (- 0) into 0 16.532 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 16.532 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.532 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.532 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.532 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.532 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.532 * [backup-simplify]: Simplify 0.5 into 0.5 16.532 * [taylor]: Taking taylor expansion of phi1 in phi1 16.532 * [backup-simplify]: Simplify 0 into 0 16.532 * [backup-simplify]: Simplify 1 into 1 16.532 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.533 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.533 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.533 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.533 * [backup-simplify]: Simplify lambda2 into lambda2 16.533 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 16.533 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 16.533 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 16.533 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 16.533 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.533 * [backup-simplify]: Simplify 0.5 into 0.5 16.533 * [taylor]: Taking taylor expansion of phi2 in phi1 16.533 * [backup-simplify]: Simplify phi2 into phi2 16.533 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.533 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.534 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.534 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 16.534 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 16.534 * [backup-simplify]: Simplify (- 0) into 0 16.534 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 16.534 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.534 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.534 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.534 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.534 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.534 * [backup-simplify]: Simplify 0.5 into 0.5 16.534 * [taylor]: Taking taylor expansion of phi1 in phi1 16.534 * [backup-simplify]: Simplify 0 into 0 16.534 * [backup-simplify]: Simplify 1 into 1 16.534 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.535 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.535 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.535 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.535 * [backup-simplify]: Simplify lambda1 into lambda1 16.535 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 16.535 * [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 16.535 * [taylor]: Taking taylor expansion of 2 in phi1 16.535 * [backup-simplify]: Simplify 2 into 2 16.535 * [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 16.535 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 16.535 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 16.535 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.535 * [backup-simplify]: Simplify 0.5 into 0.5 16.535 * [taylor]: Taking taylor expansion of phi2 in phi1 16.535 * [backup-simplify]: Simplify phi2 into phi2 16.536 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.536 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.536 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.536 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 16.536 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 16.536 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 16.536 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.536 * [backup-simplify]: Simplify 0.5 into 0.5 16.536 * [taylor]: Taking taylor expansion of phi2 in phi1 16.536 * [backup-simplify]: Simplify phi2 into phi2 16.536 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.536 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.536 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.536 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 16.536 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.536 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.536 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.536 * [backup-simplify]: Simplify 0.5 into 0.5 16.536 * [taylor]: Taking taylor expansion of phi1 in phi1 16.536 * [backup-simplify]: Simplify 0 into 0 16.536 * [backup-simplify]: Simplify 1 into 1 16.536 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.537 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.537 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 16.537 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.537 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.537 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.537 * [backup-simplify]: Simplify 0.5 into 0.5 16.537 * [taylor]: Taking taylor expansion of phi1 in phi1 16.537 * [backup-simplify]: Simplify 0 into 0 16.537 * [backup-simplify]: Simplify 1 into 1 16.538 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.538 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.538 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.538 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.538 * [backup-simplify]: Simplify lambda2 into lambda2 16.538 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 16.539 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi1 16.539 * [taylor]: Taking taylor expansion of 2 in phi1 16.539 * [backup-simplify]: Simplify 2 into 2 16.539 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi1 16.539 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 16.539 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 16.539 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.539 * [backup-simplify]: Simplify 0.5 into 0.5 16.539 * [taylor]: Taking taylor expansion of phi2 in phi1 16.539 * [backup-simplify]: Simplify phi2 into phi2 16.539 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.539 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.539 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.539 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 16.539 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 16.539 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 16.539 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.539 * [backup-simplify]: Simplify 0.5 into 0.5 16.539 * [taylor]: Taking taylor expansion of phi2 in phi1 16.539 * [backup-simplify]: Simplify phi2 into phi2 16.539 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.539 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.539 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.539 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 16.539 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.539 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.539 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.539 * [backup-simplify]: Simplify 0.5 into 0.5 16.539 * [taylor]: Taking taylor expansion of phi1 in phi1 16.539 * [backup-simplify]: Simplify 0 into 0 16.539 * [backup-simplify]: Simplify 1 into 1 16.540 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.541 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.541 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 16.541 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.541 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.541 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.541 * [backup-simplify]: Simplify 0.5 into 0.5 16.541 * [taylor]: Taking taylor expansion of phi1 in phi1 16.541 * [backup-simplify]: Simplify 0 into 0 16.541 * [backup-simplify]: Simplify 1 into 1 16.541 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.542 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.542 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.542 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.542 * [backup-simplify]: Simplify lambda1 into lambda1 16.542 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 16.542 * [taylor]: Taking taylor expansion of 2 in phi1 16.542 * [backup-simplify]: Simplify 2 into 2 16.542 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 16.542 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.542 * [backup-simplify]: Simplify lambda2 into lambda2 16.542 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 16.542 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 16.542 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 16.542 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 16.542 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.542 * [backup-simplify]: Simplify 0.5 into 0.5 16.542 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 16.542 * [taylor]: Taking taylor expansion of phi2 in phi1 16.542 * [backup-simplify]: Simplify phi2 into phi2 16.542 * [taylor]: Taking taylor expansion of phi1 in phi1 16.542 * [backup-simplify]: Simplify 0 into 0 16.543 * [backup-simplify]: Simplify 1 into 1 16.543 * [backup-simplify]: Simplify (+ phi2 0) into phi2 16.543 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.543 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.543 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.543 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 16.543 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 16.543 * [backup-simplify]: Simplify (- 0) into 0 16.543 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 16.543 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.543 * [backup-simplify]: Simplify lambda1 into lambda1 16.543 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 16.543 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2 16.543 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 16.543 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 16.543 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.543 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.543 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.543 * [backup-simplify]: Simplify 0.5 into 0.5 16.543 * [taylor]: Taking taylor expansion of phi2 in phi2 16.543 * [backup-simplify]: Simplify 0 into 0 16.543 * [backup-simplify]: Simplify 1 into 1 16.544 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.545 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.546 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.546 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 16.546 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 16.546 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.546 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.546 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.546 * [backup-simplify]: Simplify 0.5 into 0.5 16.546 * [taylor]: Taking taylor expansion of phi1 in phi2 16.546 * [backup-simplify]: Simplify phi1 into phi1 16.546 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.546 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.546 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.546 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.546 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.547 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.547 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.547 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.547 * [backup-simplify]: Simplify lambda1 into lambda1 16.547 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2 16.547 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 16.547 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 16.547 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.547 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.547 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.547 * [backup-simplify]: Simplify 0.5 into 0.5 16.547 * [taylor]: Taking taylor expansion of phi2 in phi2 16.547 * [backup-simplify]: Simplify 0 into 0 16.547 * [backup-simplify]: Simplify 1 into 1 16.547 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.548 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.549 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.549 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 16.549 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.549 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.549 * [backup-simplify]: Simplify lambda2 into lambda2 16.549 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 16.549 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.549 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.549 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.550 * [backup-simplify]: Simplify 0.5 into 0.5 16.550 * [taylor]: Taking taylor expansion of phi1 in phi2 16.550 * [backup-simplify]: Simplify phi1 into phi1 16.550 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.550 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.550 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.550 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.550 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.550 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.550 * [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)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2 16.550 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 16.550 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 16.550 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.550 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.550 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.550 * [backup-simplify]: Simplify 0.5 into 0.5 16.550 * [taylor]: Taking taylor expansion of phi2 in phi2 16.550 * [backup-simplify]: Simplify 0 into 0 16.550 * [backup-simplify]: Simplify 1 into 1 16.550 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.551 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.551 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 16.551 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 16.551 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.551 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.551 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.551 * [backup-simplify]: Simplify 0.5 into 0.5 16.551 * [taylor]: Taking taylor expansion of phi1 in phi2 16.551 * [backup-simplify]: Simplify phi1 into phi1 16.551 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.551 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.551 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.552 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.552 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.552 * [backup-simplify]: Simplify (- 0) into 0 16.552 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.552 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.552 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.552 * [backup-simplify]: Simplify lambda2 into lambda2 16.552 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 16.552 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 16.552 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.552 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.552 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.552 * [backup-simplify]: Simplify 0.5 into 0.5 16.552 * [taylor]: Taking taylor expansion of phi2 in phi2 16.552 * [backup-simplify]: Simplify 0 into 0 16.552 * [backup-simplify]: Simplify 1 into 1 16.552 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.553 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.553 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 16.553 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 16.553 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.553 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.553 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.553 * [backup-simplify]: Simplify 0.5 into 0.5 16.553 * [taylor]: Taking taylor expansion of phi1 in phi2 16.553 * [backup-simplify]: Simplify phi1 into phi1 16.553 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.554 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.554 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.554 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.554 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.554 * [backup-simplify]: Simplify (- 0) into 0 16.554 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.554 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.554 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.554 * [backup-simplify]: Simplify lambda1 into lambda1 16.554 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 16.554 * [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 16.554 * [taylor]: Taking taylor expansion of 2 in phi2 16.554 * [backup-simplify]: Simplify 2 into 2 16.554 * [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 16.554 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.554 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.554 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.554 * [backup-simplify]: Simplify 0.5 into 0.5 16.554 * [taylor]: Taking taylor expansion of phi2 in phi2 16.554 * [backup-simplify]: Simplify 0 into 0 16.554 * [backup-simplify]: Simplify 1 into 1 16.555 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.555 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.555 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 16.555 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.555 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.555 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.556 * [backup-simplify]: Simplify 0.5 into 0.5 16.556 * [taylor]: Taking taylor expansion of phi2 in phi2 16.556 * [backup-simplify]: Simplify 0 into 0 16.556 * [backup-simplify]: Simplify 1 into 1 16.556 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.558 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.558 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 16.558 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.558 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.558 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.558 * [backup-simplify]: Simplify 0.5 into 0.5 16.558 * [taylor]: Taking taylor expansion of phi1 in phi2 16.558 * [backup-simplify]: Simplify phi1 into phi1 16.558 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.558 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.558 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.558 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 16.558 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.558 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.558 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.558 * [backup-simplify]: Simplify 0.5 into 0.5 16.558 * [taylor]: Taking taylor expansion of phi1 in phi2 16.558 * [backup-simplify]: Simplify phi1 into phi1 16.558 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.559 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.559 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.559 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.559 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.559 * [backup-simplify]: Simplify lambda2 into lambda2 16.559 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 16.559 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2 16.559 * [taylor]: Taking taylor expansion of 2 in phi2 16.559 * [backup-simplify]: Simplify 2 into 2 16.559 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2 16.559 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.559 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.559 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.559 * [backup-simplify]: Simplify 0.5 into 0.5 16.559 * [taylor]: Taking taylor expansion of phi2 in phi2 16.559 * [backup-simplify]: Simplify 0 into 0 16.559 * [backup-simplify]: Simplify 1 into 1 16.560 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.561 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.561 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2 16.561 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.561 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.561 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.561 * [backup-simplify]: Simplify 0.5 into 0.5 16.561 * [taylor]: Taking taylor expansion of phi2 in phi2 16.561 * [backup-simplify]: Simplify 0 into 0 16.561 * [backup-simplify]: Simplify 1 into 1 16.562 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.563 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.563 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2 16.563 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.563 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.563 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.563 * [backup-simplify]: Simplify 0.5 into 0.5 16.563 * [taylor]: Taking taylor expansion of phi1 in phi2 16.563 * [backup-simplify]: Simplify phi1 into phi1 16.564 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.564 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.564 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.564 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2 16.564 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.564 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.564 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.564 * [backup-simplify]: Simplify 0.5 into 0.5 16.564 * [taylor]: Taking taylor expansion of phi1 in phi2 16.564 * [backup-simplify]: Simplify phi1 into phi1 16.564 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.564 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.564 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.564 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.564 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.564 * [backup-simplify]: Simplify lambda1 into lambda1 16.564 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 16.564 * [taylor]: Taking taylor expansion of 2 in phi2 16.564 * [backup-simplify]: Simplify 2 into 2 16.564 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 16.564 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.564 * [backup-simplify]: Simplify lambda2 into lambda2 16.565 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 16.565 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 16.565 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 16.565 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 16.565 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.565 * [backup-simplify]: Simplify 0.5 into 0.5 16.565 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 16.565 * [taylor]: Taking taylor expansion of phi2 in phi2 16.565 * [backup-simplify]: Simplify 0 into 0 16.565 * [backup-simplify]: Simplify 1 into 1 16.565 * [taylor]: Taking taylor expansion of phi1 in phi2 16.565 * [backup-simplify]: Simplify phi1 into phi1 16.565 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 16.565 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.565 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.565 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.565 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.565 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.566 * [backup-simplify]: Simplify (- 0) into 0 16.566 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.566 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.566 * [backup-simplify]: Simplify lambda1 into lambda1 16.566 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 16.566 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2 16.566 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 16.566 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 16.566 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.566 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.566 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.566 * [backup-simplify]: Simplify 0.5 into 0.5 16.566 * [taylor]: Taking taylor expansion of phi2 in phi2 16.566 * [backup-simplify]: Simplify 0 into 0 16.566 * [backup-simplify]: Simplify 1 into 1 16.567 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.568 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.571 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 16.571 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 16.571 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.571 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.571 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.571 * [backup-simplify]: Simplify 0.5 into 0.5 16.571 * [taylor]: Taking taylor expansion of phi1 in phi2 16.571 * [backup-simplify]: Simplify phi1 into phi1 16.571 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.571 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.571 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.571 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.571 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.572 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.572 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.572 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.572 * [backup-simplify]: Simplify lambda1 into lambda1 16.572 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2 16.572 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 16.572 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 16.572 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.572 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.572 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.572 * [backup-simplify]: Simplify 0.5 into 0.5 16.572 * [taylor]: Taking taylor expansion of phi2 in phi2 16.572 * [backup-simplify]: Simplify 0 into 0 16.572 * [backup-simplify]: Simplify 1 into 1 16.572 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.574 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.576 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 16.576 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.576 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.576 * [backup-simplify]: Simplify lambda2 into lambda2 16.576 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 16.576 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.576 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.576 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.576 * [backup-simplify]: Simplify 0.5 into 0.5 16.576 * [taylor]: Taking taylor expansion of phi1 in phi2 16.576 * [backup-simplify]: Simplify phi1 into phi1 16.576 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.576 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.576 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.576 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.577 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.577 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.577 * [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)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2 16.577 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 16.577 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 16.577 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.577 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.577 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.577 * [backup-simplify]: Simplify 0.5 into 0.5 16.577 * [taylor]: Taking taylor expansion of phi2 in phi2 16.577 * [backup-simplify]: Simplify 0 into 0 16.577 * [backup-simplify]: Simplify 1 into 1 16.577 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.578 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.578 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 16.578 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 16.578 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.578 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.578 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.578 * [backup-simplify]: Simplify 0.5 into 0.5 16.578 * [taylor]: Taking taylor expansion of phi1 in phi2 16.578 * [backup-simplify]: Simplify phi1 into phi1 16.578 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.578 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.578 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.578 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.578 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.579 * [backup-simplify]: Simplify (- 0) into 0 16.579 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.579 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.579 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.579 * [backup-simplify]: Simplify lambda2 into lambda2 16.579 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 16.579 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 16.579 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.579 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.579 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.579 * [backup-simplify]: Simplify 0.5 into 0.5 16.579 * [taylor]: Taking taylor expansion of phi2 in phi2 16.579 * [backup-simplify]: Simplify 0 into 0 16.579 * [backup-simplify]: Simplify 1 into 1 16.579 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.580 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.580 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 16.580 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 16.580 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.580 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.580 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.580 * [backup-simplify]: Simplify 0.5 into 0.5 16.580 * [taylor]: Taking taylor expansion of phi1 in phi2 16.580 * [backup-simplify]: Simplify phi1 into phi1 16.580 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.580 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.580 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.580 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.580 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.581 * [backup-simplify]: Simplify (- 0) into 0 16.581 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.581 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.581 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.581 * [backup-simplify]: Simplify lambda1 into lambda1 16.581 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 16.581 * [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 16.581 * [taylor]: Taking taylor expansion of 2 in phi2 16.581 * [backup-simplify]: Simplify 2 into 2 16.581 * [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 16.581 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.581 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.581 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.581 * [backup-simplify]: Simplify 0.5 into 0.5 16.581 * [taylor]: Taking taylor expansion of phi2 in phi2 16.581 * [backup-simplify]: Simplify 0 into 0 16.581 * [backup-simplify]: Simplify 1 into 1 16.581 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.582 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.582 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 16.582 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.582 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.582 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.582 * [backup-simplify]: Simplify 0.5 into 0.5 16.582 * [taylor]: Taking taylor expansion of phi2 in phi2 16.582 * [backup-simplify]: Simplify 0 into 0 16.582 * [backup-simplify]: Simplify 1 into 1 16.582 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.583 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.583 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 16.583 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.583 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.583 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.583 * [backup-simplify]: Simplify 0.5 into 0.5 16.583 * [taylor]: Taking taylor expansion of phi1 in phi2 16.583 * [backup-simplify]: Simplify phi1 into phi1 16.583 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.583 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.584 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.584 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 16.584 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.584 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.584 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.584 * [backup-simplify]: Simplify 0.5 into 0.5 16.584 * [taylor]: Taking taylor expansion of phi1 in phi2 16.584 * [backup-simplify]: Simplify phi1 into phi1 16.584 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.584 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.584 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.584 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.584 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.584 * [backup-simplify]: Simplify lambda2 into lambda2 16.584 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 16.584 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2 16.584 * [taylor]: Taking taylor expansion of 2 in phi2 16.584 * [backup-simplify]: Simplify 2 into 2 16.584 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2 16.584 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.584 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.584 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.584 * [backup-simplify]: Simplify 0.5 into 0.5 16.584 * [taylor]: Taking taylor expansion of phi2 in phi2 16.584 * [backup-simplify]: Simplify 0 into 0 16.584 * [backup-simplify]: Simplify 1 into 1 16.584 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.585 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.585 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2 16.585 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.585 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.585 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.585 * [backup-simplify]: Simplify 0.5 into 0.5 16.585 * [taylor]: Taking taylor expansion of phi2 in phi2 16.585 * [backup-simplify]: Simplify 0 into 0 16.585 * [backup-simplify]: Simplify 1 into 1 16.586 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.586 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.586 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2 16.586 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.586 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.586 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.587 * [backup-simplify]: Simplify 0.5 into 0.5 16.587 * [taylor]: Taking taylor expansion of phi1 in phi2 16.587 * [backup-simplify]: Simplify phi1 into phi1 16.587 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.587 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.587 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.587 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2 16.587 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.587 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.587 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.587 * [backup-simplify]: Simplify 0.5 into 0.5 16.587 * [taylor]: Taking taylor expansion of phi1 in phi2 16.587 * [backup-simplify]: Simplify phi1 into phi1 16.587 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.587 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.587 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.587 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.587 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.587 * [backup-simplify]: Simplify lambda1 into lambda1 16.587 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 16.587 * [taylor]: Taking taylor expansion of 2 in phi2 16.587 * [backup-simplify]: Simplify 2 into 2 16.587 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 16.587 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.587 * [backup-simplify]: Simplify lambda2 into lambda2 16.587 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 16.587 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 16.587 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 16.587 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 16.587 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.587 * [backup-simplify]: Simplify 0.5 into 0.5 16.587 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 16.587 * [taylor]: Taking taylor expansion of phi2 in phi2 16.587 * [backup-simplify]: Simplify 0 into 0 16.587 * [backup-simplify]: Simplify 1 into 1 16.587 * [taylor]: Taking taylor expansion of phi1 in phi2 16.587 * [backup-simplify]: Simplify phi1 into phi1 16.587 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 16.587 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.587 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.587 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.588 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.588 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.588 * [backup-simplify]: Simplify (- 0) into 0 16.588 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.588 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.588 * [backup-simplify]: Simplify lambda1 into lambda1 16.588 * [backup-simplify]: Simplify (* 1 1) into 1 16.588 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 16.588 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.589 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 16.589 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 16.589 * [backup-simplify]: Simplify (* 1 1) into 1 16.589 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 16.589 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.589 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 16.589 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 16.590 * [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))) 16.590 * [backup-simplify]: Simplify (+ 0 (+ (* (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))) 16.591 * [backup-simplify]: Simplify (+ 0 (+ (* (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))) 16.591 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.591 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.591 * [backup-simplify]: Simplify (- 0) into 0 16.591 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.591 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.591 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.591 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.591 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.591 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 16.592 * [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))) 16.592 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 16.592 * [backup-simplify]: Simplify (* 1 0) into 0 16.592 * [backup-simplify]: Simplify (* 2 0) into 0 16.592 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.592 * [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 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.593 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.593 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.593 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.593 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2)) 16.593 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) 16.593 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 16.594 * [backup-simplify]: Simplify (* 1 0) into 0 16.594 * [backup-simplify]: Simplify (* 2 0) into 0 16.594 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 16.594 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 16.594 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 16.594 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 16.595 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 16.595 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 16.595 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 16.596 * [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)))) 16.596 * [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 16.596 * [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 16.596 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.596 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.596 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.596 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.596 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.596 * [backup-simplify]: Simplify 0.5 into 0.5 16.596 * [taylor]: Taking taylor expansion of phi1 in phi1 16.596 * [backup-simplify]: Simplify 0 into 0 16.596 * [backup-simplify]: Simplify 1 into 1 16.596 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.597 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.597 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.597 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.597 * [backup-simplify]: Simplify lambda2 into lambda2 16.597 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.597 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.597 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.597 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.597 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.597 * [backup-simplify]: Simplify 0.5 into 0.5 16.597 * [taylor]: Taking taylor expansion of phi1 in phi1 16.597 * [backup-simplify]: Simplify 0 into 0 16.597 * [backup-simplify]: Simplify 1 into 1 16.597 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.598 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.598 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.598 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.598 * [backup-simplify]: Simplify lambda1 into lambda1 16.598 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.598 * [taylor]: Taking taylor expansion of 2 in phi1 16.598 * [backup-simplify]: Simplify 2 into 2 16.598 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.598 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.598 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.598 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.598 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.598 * [backup-simplify]: Simplify 0.5 into 0.5 16.598 * [taylor]: Taking taylor expansion of phi1 in phi1 16.599 * [backup-simplify]: Simplify 0 into 0 16.599 * [backup-simplify]: Simplify 1 into 1 16.599 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.600 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.600 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.600 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.600 * [backup-simplify]: Simplify lambda2 into lambda2 16.600 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.600 * [backup-simplify]: Simplify lambda1 into lambda1 16.600 * [backup-simplify]: Simplify (* 1 1) into 1 16.600 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.600 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.600 * [backup-simplify]: Simplify (* 1 1) into 1 16.600 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.601 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.601 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.601 * [backup-simplify]: Simplify (* 1 1) into 1 16.601 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.601 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.601 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.601 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.601 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.601 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 16.601 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 16.601 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.601 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.601 * [backup-simplify]: Simplify 0 into 0 16.601 * [backup-simplify]: Simplify 1 into 1 16.601 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.601 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.602 * [backup-simplify]: Simplify lambda2 into lambda2 16.602 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 16.602 * [taylor]: Taking taylor expansion of 2 in lambda1 16.602 * [backup-simplify]: Simplify 2 into 2 16.602 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 16.602 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.602 * [backup-simplify]: Simplify lambda2 into lambda2 16.602 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.602 * [backup-simplify]: Simplify 0 into 0 16.602 * [backup-simplify]: Simplify 1 into 1 16.602 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.602 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 16.602 * [backup-simplify]: Simplify (* lambda2 0) into 0 16.602 * [backup-simplify]: Simplify (* 2 0) into 0 16.602 * [backup-simplify]: Simplify (- 0) into 0 16.602 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 16.602 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.602 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.602 * [backup-simplify]: Simplify 0 into 0 16.603 * [backup-simplify]: Simplify 1 into 1 16.603 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.603 * [backup-simplify]: Simplify (+ 0) into 0 16.603 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.603 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.604 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.604 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 16.604 * [backup-simplify]: Simplify (- 0) into 0 16.605 * [backup-simplify]: Simplify (+ 0 0) into 0 16.605 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 16.605 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 16.606 * [backup-simplify]: Simplify (+ 0) into 0 16.606 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.607 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 16.607 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.607 * [backup-simplify]: Simplify (+ 0) into 0 16.607 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.607 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.609 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.609 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 16.610 * [backup-simplify]: Simplify (- 0) into 0 16.610 * [backup-simplify]: Simplify (+ 0 0) into 0 16.610 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 16.611 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 16.611 * [backup-simplify]: Simplify (+ 0) into 0 16.612 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.612 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 16.613 * [backup-simplify]: Simplify (+ 0 0) into 0 16.613 * [backup-simplify]: Simplify (+ 0 0) into 0 16.613 * [backup-simplify]: Simplify (+ 0 0) into 0 16.613 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.614 * [backup-simplify]: Simplify (+ 0) into 0 16.614 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 16.615 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.615 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.616 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 16.616 * [backup-simplify]: Simplify (+ 0 0) into 0 16.617 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 16.617 * [backup-simplify]: Simplify (+ 0) into 0 16.617 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.618 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.619 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.619 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 16.619 * [backup-simplify]: Simplify (- 0) into 0 16.620 * [backup-simplify]: Simplify (+ 0 0) into 0 16.620 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 16.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.624 * [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)))) 16.624 * [backup-simplify]: Simplify (+ 0) into 0 16.625 * [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)))) 16.626 * [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)))) 16.626 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.627 * [backup-simplify]: Simplify (+ 0) into 0 16.627 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 16.628 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.629 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.629 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 16.629 * [backup-simplify]: Simplify (+ 0 0) into 0 16.630 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0 16.630 * [backup-simplify]: Simplify (+ 0) into 0 16.635 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.635 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.636 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.637 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 16.637 * [backup-simplify]: Simplify (- 0) into 0 16.637 * [backup-simplify]: Simplify (+ 0 0) into 0 16.638 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 16.640 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.641 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 16.641 * [backup-simplify]: Simplify (+ 0) into 0 16.642 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 16.643 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 16.643 * [backup-simplify]: Simplify (+ 0) into 0 16.644 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.644 * [backup-simplify]: Simplify (+ 1 0) into 1 16.644 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 16.647 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.647 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 16.647 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 16.648 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 16.648 * [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))))) 16.648 * [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)))) 16.649 * [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))))) 16.650 * [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))))) 16.650 * [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)))))) into (- (* 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))))) 16.651 * [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)))) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) 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))))) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 16.653 * [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)))))) 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)))))) 16.654 * [backup-simplify]: Simplify (+ 0 (- (* 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))))))) 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)))))) 16.654 * [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 16.654 * [taylor]: Taking taylor expansion of (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) in phi1 16.654 * [taylor]: Taking taylor expansion of 2.0 in phi1 16.655 * [backup-simplify]: Simplify 2.0 into 2.0 16.655 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))) in phi1 16.655 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.655 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.655 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.655 * [backup-simplify]: Simplify 0.5 into 0.5 16.655 * [taylor]: Taking taylor expansion of phi1 in phi1 16.655 * [backup-simplify]: Simplify 0 into 0 16.655 * [backup-simplify]: Simplify 1 into 1 16.655 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.657 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.657 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 lambda1)) in phi1 16.657 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.657 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.657 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.657 * [backup-simplify]: Simplify 0.5 into 0.5 16.657 * [taylor]: Taking taylor expansion of phi1 in phi1 16.657 * [backup-simplify]: Simplify 0 into 0 16.657 * [backup-simplify]: Simplify 1 into 1 16.657 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.659 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.659 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.659 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.659 * [backup-simplify]: Simplify lambda2 into lambda2 16.659 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.659 * [backup-simplify]: Simplify lambda1 into lambda1 16.659 * [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 16.659 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 16.659 * [taylor]: Taking taylor expansion of 1.0 in phi1 16.659 * [backup-simplify]: Simplify 1.0 into 1.0 16.659 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 16.659 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.659 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.659 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.659 * [backup-simplify]: Simplify 0.5 into 0.5 16.659 * [taylor]: Taking taylor expansion of phi1 in phi1 16.659 * [backup-simplify]: Simplify 0 into 0 16.659 * [backup-simplify]: Simplify 1 into 1 16.660 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.661 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.661 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 16.661 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.661 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.661 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.661 * [backup-simplify]: Simplify 0.5 into 0.5 16.661 * [taylor]: Taking taylor expansion of phi1 in phi1 16.661 * [backup-simplify]: Simplify 0 into 0 16.661 * [backup-simplify]: Simplify 1 into 1 16.662 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.663 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.664 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.664 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.664 * [backup-simplify]: Simplify lambda1 into lambda1 16.664 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 16.664 * [taylor]: Taking taylor expansion of 1.0 in phi1 16.664 * [backup-simplify]: Simplify 1.0 into 1.0 16.664 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 16.664 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.664 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.664 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.664 * [backup-simplify]: Simplify 0.5 into 0.5 16.664 * [taylor]: Taking taylor expansion of phi1 in phi1 16.664 * [backup-simplify]: Simplify 0 into 0 16.664 * [backup-simplify]: Simplify 1 into 1 16.664 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.666 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.666 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 16.666 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.666 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.666 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.666 * [backup-simplify]: Simplify 0.5 into 0.5 16.666 * [taylor]: Taking taylor expansion of phi1 in phi1 16.666 * [backup-simplify]: Simplify 0 into 0 16.666 * [backup-simplify]: Simplify 1 into 1 16.666 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.668 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.668 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.668 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.668 * [backup-simplify]: Simplify lambda2 into lambda2 16.668 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.668 * [backup-simplify]: Simplify (* 0 (* lambda2 lambda1)) into 0 16.669 * [backup-simplify]: Simplify (* 1 0) into 0 16.669 * [backup-simplify]: Simplify (* 2.0 0) into 0 16.669 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.669 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 16.670 * [backup-simplify]: Simplify (* 1 0) into 0 16.670 * [backup-simplify]: Simplify (* 1.0 0) into 0 16.670 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.670 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 16.671 * [backup-simplify]: Simplify (* 1 0) into 0 16.671 * [backup-simplify]: Simplify (* 1.0 0) into 0 16.672 * [backup-simplify]: Simplify (+ 0 0) into 0 16.672 * [backup-simplify]: Simplify (- 0) into 0 16.672 * [backup-simplify]: Simplify (+ 0 0) into 0 16.672 * [taylor]: Taking taylor expansion of 0 in lambda1 16.672 * [backup-simplify]: Simplify 0 into 0 16.672 * [taylor]: Taking taylor expansion of 0 in lambda2 16.672 * [backup-simplify]: Simplify 0 into 0 16.672 * [backup-simplify]: Simplify 0 into 0 16.673 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.673 * [backup-simplify]: Simplify (+ 0) into 0 16.674 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.674 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 16.674 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.675 * [backup-simplify]: Simplify (+ 0) into 0 16.675 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.676 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 16.676 * [backup-simplify]: Simplify (+ 0 0) into 0 16.676 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 16.676 * [backup-simplify]: Simplify (+ 0) into 0 16.677 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.677 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 16.677 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 16.677 * [backup-simplify]: Simplify (- 0) into 0 16.678 * [backup-simplify]: Simplify (+ 0 0) into 0 16.678 * [taylor]: Taking taylor expansion of 0 in lambda1 16.678 * [backup-simplify]: Simplify 0 into 0 16.678 * [taylor]: Taking taylor expansion of 0 in lambda2 16.678 * [backup-simplify]: Simplify 0 into 0 16.678 * [backup-simplify]: Simplify 0 into 0 16.678 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.678 * [backup-simplify]: Simplify (+ 0 0) into 0 16.678 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 16.679 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 16.679 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 16.679 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 16.679 * [taylor]: Taking taylor expansion of (- (* 2 lambda2)) in lambda2 16.679 * [taylor]: Taking taylor expansion of (* 2 lambda2) in lambda2 16.679 * [taylor]: Taking taylor expansion of 2 in lambda2 16.679 * [backup-simplify]: Simplify 2 into 2 16.679 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.679 * [backup-simplify]: Simplify 0 into 0 16.679 * [backup-simplify]: Simplify 1 into 1 16.679 * [backup-simplify]: Simplify (* 2 0) into 0 16.679 * [backup-simplify]: Simplify (- 0) into 0 16.679 * [backup-simplify]: Simplify 0 into 0 16.680 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 16.680 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 16.680 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.680 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) 16.680 * [backup-simplify]: Simplify (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) into (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 16.680 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 16.680 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.681 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 16.681 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 16.681 * [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))) 16.681 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 16.682 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 16.682 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 16.683 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 16.683 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.683 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 16.684 * [backup-simplify]: Simplify (- 0) into 0 16.684 * [backup-simplify]: Simplify (+ 0 0) into 0 16.684 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 16.685 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda2 2)))) into 0 16.686 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.688 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 16.689 * [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)))) 16.690 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 16.690 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 16.691 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 16.691 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 16.692 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.692 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 16.692 * [backup-simplify]: Simplify (- 0) into 0 16.692 * [backup-simplify]: Simplify (+ 0 0) into 0 16.693 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 16.693 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0 16.695 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.697 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 16.698 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 16.698 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 16.699 * [backup-simplify]: Simplify (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (- (+ (* 0.25 (* (pow (cos (* 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 (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 16.700 * [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))) (+ (* 0.25 (* (pow (cos (* 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 lambda1 2))) (* 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))))) 16.701 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 16.701 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 16.702 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 16.702 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 16.703 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.703 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 16.703 * [backup-simplify]: Simplify (+ 0 0) into 0 16.704 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda2 2)))) into 0 16.705 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 16.705 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 16.706 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 16.707 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.707 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 16.707 * [backup-simplify]: Simplify (- 0) into 0 16.708 * [backup-simplify]: Simplify (+ 0 0) into 0 16.709 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0 16.710 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 16.711 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.712 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) into 0 16.715 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.716 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* (- 0.125) 0))) into 0 16.718 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0))) into 0 16.718 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 16.719 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 16.720 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 16.721 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 16.722 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.722 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 16.723 * [backup-simplify]: Simplify (+ 0 0) into 0 16.723 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0 16.724 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 16.725 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 16.726 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 16.727 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.727 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 16.728 * [backup-simplify]: Simplify (- 0) into 0 16.728 * [backup-simplify]: Simplify (+ 0 0) into 0 16.729 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0 16.730 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 16.731 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.732 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0 16.733 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.734 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* (- 0.125) 0))) into 0 16.735 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0))) into 0 16.737 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.737 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 16.737 * [backup-simplify]: Simplify (+ 0 0) into 0 16.738 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 16.738 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.739 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 16.739 * [backup-simplify]: Simplify (- 0) into 0 16.739 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 16.740 * [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))) 16.740 * [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))) 16.741 * [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)))) 16.742 * [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)))) 16.742 * [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)))) 16.742 * [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)))) 16.743 * [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)))) 16.744 * [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)))) (+ (* 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 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)))))) 16.744 * [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 16.745 * [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 16.745 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 16.745 * [taylor]: Taking taylor expansion of 0.25 in phi1 16.745 * [backup-simplify]: Simplify 0.25 into 0.25 16.745 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.745 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.745 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.745 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.745 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.745 * [backup-simplify]: Simplify 0.5 into 0.5 16.745 * [taylor]: Taking taylor expansion of phi1 in phi1 16.745 * [backup-simplify]: Simplify 0 into 0 16.745 * [backup-simplify]: Simplify 1 into 1 16.745 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.746 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.748 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.748 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.748 * [backup-simplify]: Simplify lambda1 into lambda1 16.748 * [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 16.748 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.748 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.748 * [backup-simplify]: Simplify 0.5 into 0.5 16.748 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.748 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.748 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.748 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.748 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.748 * [backup-simplify]: Simplify 0.5 into 0.5 16.748 * [taylor]: Taking taylor expansion of phi1 in phi1 16.748 * [backup-simplify]: Simplify 0 into 0 16.748 * [backup-simplify]: Simplify 1 into 1 16.748 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.754 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.754 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.754 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.754 * [backup-simplify]: Simplify lambda2 into lambda2 16.754 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.754 * [backup-simplify]: Simplify lambda1 into lambda1 16.754 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 16.754 * [taylor]: Taking taylor expansion of 0.25 in phi1 16.754 * [backup-simplify]: Simplify 0.25 into 0.25 16.754 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.754 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.754 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.754 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.755 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.755 * [backup-simplify]: Simplify 0.5 into 0.5 16.755 * [taylor]: Taking taylor expansion of phi1 in phi1 16.755 * [backup-simplify]: Simplify 0 into 0 16.755 * [backup-simplify]: Simplify 1 into 1 16.755 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.756 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.757 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.757 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.757 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.757 * [backup-simplify]: Simplify lambda2 into lambda2 16.757 * [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 16.757 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 16.757 * [taylor]: Taking taylor expansion of 0.25 in phi1 16.757 * [backup-simplify]: Simplify 0.25 into 0.25 16.757 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.758 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.758 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.758 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.758 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.758 * [backup-simplify]: Simplify 0.5 into 0.5 16.758 * [taylor]: Taking taylor expansion of phi1 in phi1 16.758 * [backup-simplify]: Simplify 0 into 0 16.758 * [backup-simplify]: Simplify 1 into 1 16.758 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.759 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.759 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.759 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.759 * [backup-simplify]: Simplify lambda1 into lambda1 16.759 * [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 16.759 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 16.759 * [taylor]: Taking taylor expansion of 0.25 in phi1 16.759 * [backup-simplify]: Simplify 0.25 into 0.25 16.759 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.759 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.759 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.759 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.759 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.759 * [backup-simplify]: Simplify 0.5 into 0.5 16.759 * [taylor]: Taking taylor expansion of phi1 in phi1 16.759 * [backup-simplify]: Simplify 0 into 0 16.759 * [backup-simplify]: Simplify 1 into 1 16.759 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.760 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.760 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.760 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.761 * [backup-simplify]: Simplify lambda2 into lambda2 16.761 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.761 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.761 * [backup-simplify]: Simplify 0.5 into 0.5 16.761 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.761 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.761 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.761 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.761 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.761 * [backup-simplify]: Simplify 0.5 into 0.5 16.761 * [taylor]: Taking taylor expansion of phi1 in phi1 16.761 * [backup-simplify]: Simplify 0 into 0 16.761 * [backup-simplify]: Simplify 1 into 1 16.761 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.762 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.763 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.763 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.763 * [backup-simplify]: Simplify lambda2 into lambda2 16.763 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.763 * [backup-simplify]: Simplify lambda1 into lambda1 16.764 * [backup-simplify]: Simplify (* 1 1) into 1 16.764 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.764 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.764 * [backup-simplify]: Simplify (* 0.5 (* lambda2 lambda1)) into (* 0.5 (* lambda2 lambda1)) 16.764 * [backup-simplify]: Simplify (+ (* 0.5 (* lambda2 lambda1)) 0) into (* 0.5 (* lambda2 lambda1)) 16.764 * [backup-simplify]: Simplify (+ 0 (* 0.5 (* lambda2 lambda1))) into (* 0.5 (* lambda2 lambda1)) 16.764 * [backup-simplify]: Simplify (* 1 1) into 1 16.764 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.764 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.765 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 16.765 * [backup-simplify]: Simplify (* 1 1) into 1 16.765 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.765 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.765 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 16.765 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda2 2)) 0) into (* 0.25 (pow lambda2 2)) 16.765 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) into (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) 16.766 * [backup-simplify]: Simplify (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) into (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 16.766 * [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)))) 16.766 * [taylor]: Taking taylor expansion of (- (* 0.5 (* lambda2 lambda1)) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda1 16.766 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda1 16.766 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.766 * [backup-simplify]: Simplify 0.5 into 0.5 16.766 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 16.766 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.766 * [backup-simplify]: Simplify lambda2 into lambda2 16.766 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.766 * [backup-simplify]: Simplify 0 into 0 16.766 * [backup-simplify]: Simplify 1 into 1 16.766 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda1 16.766 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 16.766 * [taylor]: Taking taylor expansion of 0.25 in lambda1 16.766 * [backup-simplify]: Simplify 0.25 into 0.25 16.766 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.766 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.766 * [backup-simplify]: Simplify 0 into 0 16.766 * [backup-simplify]: Simplify 1 into 1 16.766 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda1 16.766 * [taylor]: Taking taylor expansion of 0.25 in lambda1 16.766 * [backup-simplify]: Simplify 0.25 into 0.25 16.766 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.766 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.766 * [backup-simplify]: Simplify lambda2 into lambda2 16.766 * [backup-simplify]: Simplify (* lambda2 0) into 0 16.767 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.767 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.767 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 16.767 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda2 2))) into (* 0.25 (pow lambda2 2)) 16.767 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda2 2))) into (- (* 0.25 (pow lambda2 2))) 16.767 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (pow lambda2 2)))) into (- (* 0.25 (pow lambda2 2))) 16.767 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow lambda2 2))) in lambda2 16.767 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 16.767 * [taylor]: Taking taylor expansion of 0.25 in lambda2 16.767 * [backup-simplify]: Simplify 0.25 into 0.25 16.767 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.767 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.767 * [backup-simplify]: Simplify 0 into 0 16.767 * [backup-simplify]: Simplify 1 into 1 16.767 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 16.770 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.770 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* lambda2 lambda1))) into (* 0.5 (* lambda2 lambda1)) 16.771 * [backup-simplify]: Simplify (+ 0) into 0 16.771 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 0.5 (* lambda2 lambda1)) 16.772 * [backup-simplify]: Simplify (+ (* 2.0 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 1.0 (* lambda2 lambda1)) 16.772 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.774 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.775 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 16.775 * [backup-simplify]: Simplify (+ 0) into 0 16.776 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 16.777 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 16.777 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.779 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.780 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 16.780 * [backup-simplify]: Simplify (+ 0) into 0 16.781 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 16.782 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 16.782 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2))) into (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2))) 16.782 * [backup-simplify]: Simplify (- (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2)))) into (- (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2)))) 16.783 * [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)))) 16.783 * [taylor]: Taking taylor expansion of (- (* 1.0 (* lambda2 lambda1)) (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2)))) in lambda1 16.783 * [taylor]: Taking taylor expansion of (* 1.0 (* lambda2 lambda1)) in lambda1 16.783 * [taylor]: Taking taylor expansion of 1.0 in lambda1 16.783 * [backup-simplify]: Simplify 1.0 into 1.0 16.783 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 16.783 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.783 * [backup-simplify]: Simplify lambda2 into lambda2 16.783 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.783 * [backup-simplify]: Simplify 0 into 0 16.783 * [backup-simplify]: Simplify 1 into 1 16.783 * [taylor]: Taking taylor expansion of (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2))) in lambda1 16.783 * [taylor]: Taking taylor expansion of (* 0.5 (pow lambda1 2)) in lambda1 16.783 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.783 * [backup-simplify]: Simplify 0.5 into 0.5 16.784 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.784 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.784 * [backup-simplify]: Simplify 0 into 0 16.784 * [backup-simplify]: Simplify 1 into 1 16.784 * [taylor]: Taking taylor expansion of (* 0.5 (pow lambda2 2)) in lambda1 16.784 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.784 * [backup-simplify]: Simplify 0.5 into 0.5 16.784 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.784 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.784 * [backup-simplify]: Simplify lambda2 into lambda2 16.784 * [backup-simplify]: Simplify (* lambda2 0) into 0 16.784 * [backup-simplify]: Simplify (* 1.0 0) into 0 16.784 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.785 * [backup-simplify]: Simplify (* 0.5 (pow lambda2 2)) into (* 0.5 (pow lambda2 2)) 16.785 * [backup-simplify]: Simplify (+ 0 (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 16.785 * [backup-simplify]: Simplify (- (* 0.5 (pow lambda2 2))) into (- (* 0.5 (pow lambda2 2))) 16.785 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (pow lambda2 2)))) into (- (* 0.5 (pow lambda2 2))) 16.785 * [taylor]: Taking taylor expansion of (- (* 0.5 (pow lambda2 2))) in lambda2 16.785 * [taylor]: Taking taylor expansion of (* 0.5 (pow lambda2 2)) in lambda2 16.785 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.785 * [backup-simplify]: Simplify 0.5 into 0.5 16.785 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.785 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.785 * [backup-simplify]: Simplify 0 into 0 16.785 * [backup-simplify]: Simplify 1 into 1 16.786 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 16.789 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.793 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 16.794 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda2 2)))) into (- (* 0.25 (pow lambda2 2))) 16.795 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 16.797 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.799 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 16.800 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 16.800 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda2 2))) (- (* 0.25 (pow lambda1 2)))) into (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 16.801 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 16.802 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.804 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 16.805 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* lambda2 lambda1)))) into (- (* 0.25 (* lambda2 lambda1))) 16.805 * [backup-simplify]: Simplify (+ (* 2 (- (* 0.25 (* lambda2 lambda1)))) (+ (* 0 0) (* 0 (* lambda2 lambda1)))) into (- (* 0.5 (* lambda2 lambda1))) 16.806 * [backup-simplify]: Simplify (- (- (* 0.5 (* lambda2 lambda1)))) into (* 0.5 (* lambda2 lambda1)) 16.806 * [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)))) 16.806 * [taylor]: Taking taylor expansion of (- (* 0.5 (* lambda2 lambda1)) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda1 16.806 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) 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 (* lambda2 lambda1) in lambda1 16.806 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.806 * [backup-simplify]: Simplify lambda2 into lambda2 16.806 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.806 * [backup-simplify]: Simplify 0 into 0 16.806 * [backup-simplify]: Simplify 1 into 1 16.806 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda1 16.806 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 16.806 * [taylor]: Taking taylor expansion of 0.25 in lambda1 16.806 * [backup-simplify]: Simplify 0.25 into 0.25 16.806 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.806 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.806 * [backup-simplify]: Simplify 0 into 0 16.806 * [backup-simplify]: Simplify 1 into 1 16.806 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda1 16.806 * [taylor]: Taking taylor expansion of 0.25 in lambda1 16.806 * [backup-simplify]: Simplify 0.25 into 0.25 16.806 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.806 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.806 * [backup-simplify]: Simplify lambda2 into lambda2 16.806 * [backup-simplify]: Simplify (* lambda2 0) into 0 16.807 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.807 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.807 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 16.807 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda2 2))) into (* 0.25 (pow lambda2 2)) 16.807 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda2 2))) into (- (* 0.25 (pow lambda2 2))) 16.807 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (pow lambda2 2)))) into (- (* 0.25 (pow lambda2 2))) 16.807 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow lambda2 2))) in lambda2 16.807 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 16.807 * [taylor]: Taking taylor expansion of 0.25 in lambda2 16.807 * [backup-simplify]: Simplify 0.25 into 0.25 16.807 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.807 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.807 * [backup-simplify]: Simplify 0 into 0 16.807 * [backup-simplify]: Simplify 1 into 1 16.807 * [taylor]: Taking taylor expansion of 0 in lambda2 16.807 * [backup-simplify]: Simplify 0 into 0 16.808 * [backup-simplify]: Simplify 0 into 0 16.808 * [taylor]: Taking taylor expansion of 0 in lambda2 16.808 * [backup-simplify]: Simplify 0 into 0 16.808 * [backup-simplify]: Simplify 0 into 0 16.808 * [backup-simplify]: Simplify (* 1 1) into 1 16.808 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 16.808 * [backup-simplify]: Simplify (+ 1 0) into 1 16.809 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 16.809 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 lambda2) (* 0 0))) into 0 16.810 * [backup-simplify]: Simplify (- 0) into 0 16.810 * [backup-simplify]: Simplify (+ 1 0) into 1 16.810 * [taylor]: Taking taylor expansion of 1 in lambda2 16.810 * [backup-simplify]: Simplify 1 into 1 16.810 * [backup-simplify]: Simplify 1 into 1 16.810 * [backup-simplify]: Simplify 0 into 0 16.810 * [backup-simplify]: Simplify 0 into 0 16.810 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2 16.811 * [backup-simplify]: Simplify (- 2) into -2 16.811 * [backup-simplify]: Simplify -2 into -2 16.811 * [backup-simplify]: Simplify (* 1 1) into 1 16.811 * [backup-simplify]: Simplify 1 into 1 16.812 * [backup-simplify]: Simplify (+ (* 1 (pow (* lambda2 (* 1 (* 1 1))) 2)) (+ (* -2 (* lambda2 (* lambda1 (* 1 1)))) (* 1 (pow (* 1 (* lambda1 (* 1 1))) 2)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.813 * [backup-simplify]: Simplify (- (* (pow (- (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5))) (* (sin (* 0.5 (/ 1 phi2))) (sin (* 0.5 (/ 1 phi1))))) 2) (+ (pow (/ 1 lambda1) 2) (pow (/ 1 lambda2) 2))) (* 2 (* (/ 1 lambda2) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (/ 1 lambda1))))) into (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 16.813 * [approximate]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in (phi2 phi1 lambda1 lambda2) around 0 16.813 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda2 16.813 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda2 16.813 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 16.813 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.813 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.813 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.813 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.813 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.813 * [backup-simplify]: Simplify 0.5 into 0.5 16.813 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.813 * [backup-simplify]: Simplify phi1 into phi1 16.813 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.814 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.814 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.814 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.814 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.814 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.814 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.814 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.814 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.814 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.814 * [backup-simplify]: Simplify 0.5 into 0.5 16.814 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.814 * [backup-simplify]: Simplify phi2 into phi2 16.814 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.814 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.814 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.814 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.814 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.814 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.814 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.814 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.814 * [backup-simplify]: Simplify 0 into 0 16.814 * [backup-simplify]: Simplify 1 into 1 16.814 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.815 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.815 * [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)) 16.815 * [backup-simplify]: Simplify (* 1 1) into 1 16.815 * [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)) 16.815 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2 16.815 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2 16.815 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.815 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.815 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.815 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.815 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.815 * [backup-simplify]: Simplify 0.5 into 0.5 16.815 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.816 * [backup-simplify]: Simplify phi1 into phi1 16.816 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.816 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.816 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.816 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.816 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.816 * [backup-simplify]: Simplify (- 0) into 0 16.816 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.816 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.816 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.816 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.816 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.816 * [backup-simplify]: Simplify 0.5 into 0.5 16.816 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.816 * [backup-simplify]: Simplify phi2 into phi2 16.816 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.816 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.816 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.817 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.817 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.817 * [backup-simplify]: Simplify (- 0) into 0 16.817 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.817 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.817 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.817 * [backup-simplify]: Simplify lambda1 into lambda1 16.817 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.817 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.817 * [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)) 16.817 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.818 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 16.818 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2 16.818 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2 16.818 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.818 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.818 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.818 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.818 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.818 * [backup-simplify]: Simplify 0.5 into 0.5 16.818 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.818 * [backup-simplify]: Simplify phi1 into phi1 16.818 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.818 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.818 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.818 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.818 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.818 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.818 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.818 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.818 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.818 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.818 * [backup-simplify]: Simplify 0.5 into 0.5 16.818 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.818 * [backup-simplify]: Simplify phi2 into phi2 16.818 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.818 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.819 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.819 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.819 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.819 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.819 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.819 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.819 * [backup-simplify]: Simplify lambda1 into lambda1 16.819 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.819 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.819 * [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)) 16.819 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.819 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 16.819 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 16.820 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.820 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.820 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.820 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.820 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.820 * [backup-simplify]: Simplify 0.5 into 0.5 16.820 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.820 * [backup-simplify]: Simplify phi1 into phi1 16.820 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.820 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.820 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.820 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.820 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.820 * [backup-simplify]: Simplify (- 0) into 0 16.820 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.820 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.820 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.820 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.820 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.820 * [backup-simplify]: Simplify 0.5 into 0.5 16.820 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.820 * [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 lambda2 2) in lambda2 16.821 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.821 * [backup-simplify]: Simplify 0 into 0 16.821 * [backup-simplify]: Simplify 1 into 1 16.821 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.821 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.822 * [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)) 16.822 * [backup-simplify]: Simplify (* 1 1) into 1 16.822 * [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)) 16.822 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda2 16.822 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 16.822 * [taylor]: Taking taylor expansion of 2 in lambda2 16.822 * [backup-simplify]: Simplify 2 into 2 16.822 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 16.822 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 16.822 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 16.822 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 16.822 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.822 * [backup-simplify]: Simplify 0.5 into 0.5 16.822 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 16.822 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 16.822 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.822 * [backup-simplify]: Simplify phi1 into phi1 16.822 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.822 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 16.822 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.822 * [backup-simplify]: Simplify phi2 into phi2 16.823 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.823 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.823 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.823 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.823 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.823 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.823 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.823 * [backup-simplify]: Simplify (- 0) into 0 16.824 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.824 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) 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 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.824 * [backup-simplify]: Simplify lambda1 into lambda1 16.824 * [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) 16.824 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.824 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.824 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 16.824 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda2 16.824 * [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 16.824 * [taylor]: Taking taylor expansion of 2 in lambda2 16.824 * [backup-simplify]: Simplify 2 into 2 16.824 * [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 16.824 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.825 * [taylor]: Taking taylor expansion of (cos (/ 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 (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.825 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.825 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 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 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.825 * [taylor]: Taking taylor expansion of (sin (/ 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 (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.825 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 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) 16.826 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.826 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 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 (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.826 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.826 * [backup-simplify]: Simplify (- 0) into 0 16.826 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 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 (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.826 * [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 phi2)) 1) into (cos (/ 0.5 phi2)) 16.827 * [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 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.827 * [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)))) 16.827 * [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))))) 16.828 * [backup-simplify]: Simplify (* 1 1) into 1 16.828 * [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))))) 16.828 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) 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 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda2 16.828 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.828 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.828 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.828 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.828 * [backup-simplify]: Simplify 0.5 into 0.5 16.828 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.828 * [backup-simplify]: Simplify phi1 into phi1 16.828 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.828 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.828 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.828 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 16.828 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.828 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.828 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.828 * [backup-simplify]: Simplify 0.5 into 0.5 16.828 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.828 * [backup-simplify]: Simplify phi1 into phi1 16.828 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.828 * [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)) 16.829 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.829 * [taylor]: Taking taylor expansion of (sin (/ 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 (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.829 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 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 (pow lambda1 2) in lambda2 16.829 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.829 * [backup-simplify]: Simplify lambda1 into lambda1 16.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.830 * [backup-simplify]: Simplify (- 0) into 0 16.830 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.830 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.830 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.830 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.830 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.830 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.830 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 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)) 16.831 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.831 * [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)))) 16.831 * [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))))) 16.831 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.831 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 16.831 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1 16.831 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1 16.831 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 16.831 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 16.831 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 16.831 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 16.831 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.831 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.832 * [backup-simplify]: Simplify 0.5 into 0.5 16.832 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.832 * [backup-simplify]: Simplify phi1 into phi1 16.832 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.832 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.832 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.832 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.832 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.832 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.832 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 16.832 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 16.832 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.832 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.832 * [backup-simplify]: Simplify 0.5 into 0.5 16.832 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.832 * [backup-simplify]: Simplify phi2 into phi2 16.832 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.832 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.833 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.833 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.833 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.833 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.833 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.833 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.833 * [backup-simplify]: Simplify lambda2 into lambda2 16.833 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.833 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.834 * [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)) 16.834 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.834 * [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)) 16.834 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 16.834 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 16.834 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 16.834 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 16.834 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 16.834 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.834 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.834 * [backup-simplify]: Simplify 0.5 into 0.5 16.834 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.835 * [backup-simplify]: Simplify phi1 into phi1 16.835 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.835 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.835 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.835 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.835 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.835 * [backup-simplify]: Simplify (- 0) into 0 16.836 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.836 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 16.836 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 16.836 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.836 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.836 * [backup-simplify]: Simplify 0.5 into 0.5 16.836 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.836 * [backup-simplify]: Simplify phi2 into phi2 16.836 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.836 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.836 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.836 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.836 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.837 * [backup-simplify]: Simplify (- 0) into 0 16.837 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.837 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.837 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.837 * [backup-simplify]: Simplify 0 into 0 16.837 * [backup-simplify]: Simplify 1 into 1 16.837 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.837 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.838 * [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)) 16.838 * [backup-simplify]: Simplify (* 1 1) into 1 16.838 * [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)) 16.838 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 16.838 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 16.839 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 16.839 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 16.839 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 16.839 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.839 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.839 * [backup-simplify]: Simplify 0.5 into 0.5 16.839 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.839 * [backup-simplify]: Simplify phi1 into phi1 16.839 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.839 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.839 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.839 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.839 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.840 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.840 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 16.840 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 16.840 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.840 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.840 * [backup-simplify]: Simplify 0.5 into 0.5 16.840 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.840 * [backup-simplify]: Simplify phi2 into phi2 16.840 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.840 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.840 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.840 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.840 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.840 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.840 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.840 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.840 * [backup-simplify]: Simplify 0 into 0 16.840 * [backup-simplify]: Simplify 1 into 1 16.840 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.840 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.840 * [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)) 16.841 * [backup-simplify]: Simplify (* 1 1) into 1 16.841 * [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)) 16.841 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 16.841 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 16.841 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 16.841 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 16.841 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.841 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.841 * [backup-simplify]: Simplify 0.5 into 0.5 16.841 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.841 * [backup-simplify]: Simplify phi1 into phi1 16.841 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.841 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.841 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.841 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.842 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.842 * [backup-simplify]: Simplify (- 0) into 0 16.842 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.842 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 16.842 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 16.842 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.842 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.842 * [backup-simplify]: Simplify 0.5 into 0.5 16.842 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.842 * [backup-simplify]: Simplify phi2 into phi2 16.842 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.842 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.842 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.842 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.842 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.843 * [backup-simplify]: Simplify (- 0) into 0 16.843 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.843 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.843 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.843 * [backup-simplify]: Simplify lambda2 into lambda2 16.843 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.843 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.843 * [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)) 16.843 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.843 * [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)) 16.843 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1 16.843 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 16.843 * [taylor]: Taking taylor expansion of 2 in lambda1 16.843 * [backup-simplify]: Simplify 2 into 2 16.844 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 16.844 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 16.844 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 16.844 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 16.844 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.844 * [backup-simplify]: Simplify 0.5 into 0.5 16.844 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 16.844 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 16.844 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.844 * [backup-simplify]: Simplify phi1 into phi1 16.844 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.844 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 16.844 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.844 * [backup-simplify]: Simplify phi2 into phi2 16.844 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.844 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.844 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.844 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.844 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.844 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.844 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.845 * [backup-simplify]: Simplify (- 0) into 0 16.845 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.845 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 16.845 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.845 * [backup-simplify]: Simplify lambda2 into lambda2 16.845 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.845 * [backup-simplify]: Simplify 0 into 0 16.845 * [backup-simplify]: Simplify 1 into 1 16.845 * [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) 16.845 * [backup-simplify]: Simplify (* lambda2 0) into 0 16.845 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 16.846 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 16.846 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1 16.846 * [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 16.846 * [taylor]: Taking taylor expansion of 2 in lambda1 16.846 * [backup-simplify]: Simplify 2 into 2 16.846 * [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 16.846 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 16.846 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 16.846 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.846 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.846 * [backup-simplify]: Simplify 0.5 into 0.5 16.846 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.846 * [backup-simplify]: Simplify phi1 into phi1 16.846 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.846 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.846 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.846 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 16.846 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 16.846 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.846 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.846 * [backup-simplify]: Simplify 0.5 into 0.5 16.846 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.846 * [backup-simplify]: Simplify phi1 into phi1 16.846 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.846 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.846 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.846 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 16.846 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 16.846 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.846 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.846 * [backup-simplify]: Simplify 0.5 into 0.5 16.846 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.846 * [backup-simplify]: Simplify phi2 into phi2 16.846 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.847 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.847 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.847 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 16.847 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.847 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.847 * [backup-simplify]: Simplify 0.5 into 0.5 16.847 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.847 * [backup-simplify]: Simplify phi2 into phi2 16.847 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.847 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.847 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.847 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.847 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.847 * [backup-simplify]: Simplify lambda2 into lambda2 16.847 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.847 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.847 * [backup-simplify]: Simplify (- 0) into 0 16.847 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.847 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.848 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.848 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.848 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.848 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.848 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.848 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.848 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.848 * [backup-simplify]: Simplify (- 0) into 0 16.848 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.848 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.848 * [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)))) 16.849 * [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))))) 16.849 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.849 * [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)) 16.849 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1 16.849 * [taylor]: Taking taylor expansion of 2 in lambda1 16.849 * [backup-simplify]: Simplify 2 into 2 16.849 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1 16.849 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 16.849 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 16.849 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.849 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.849 * [backup-simplify]: Simplify 0.5 into 0.5 16.849 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.849 * [backup-simplify]: Simplify phi1 into phi1 16.849 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.849 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.849 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.849 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 16.849 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 16.850 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.850 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.850 * [backup-simplify]: Simplify 0.5 into 0.5 16.850 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.850 * [backup-simplify]: Simplify phi1 into phi1 16.850 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.850 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.850 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.850 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 16.850 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 16.850 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.850 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.850 * [backup-simplify]: Simplify 0.5 into 0.5 16.850 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.850 * [backup-simplify]: Simplify phi2 into phi2 16.850 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.850 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.850 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.850 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 16.850 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.850 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.850 * [backup-simplify]: Simplify 0.5 into 0.5 16.850 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.850 * [backup-simplify]: Simplify phi2 into phi2 16.850 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.850 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.850 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.850 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.850 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.850 * [backup-simplify]: Simplify 0 into 0 16.850 * [backup-simplify]: Simplify 1 into 1 16.850 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.850 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.851 * [backup-simplify]: Simplify (- 0) into 0 16.851 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.851 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.851 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.851 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.851 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.851 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.851 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.852 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.852 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.852 * [backup-simplify]: Simplify (- 0) into 0 16.852 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.852 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.852 * [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)))) 16.852 * [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))))) 16.853 * [backup-simplify]: Simplify (* 1 1) into 1 16.853 * [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))))) 16.853 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi1 16.853 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi1 16.853 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 16.853 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 16.853 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 16.853 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.853 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.853 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.853 * [backup-simplify]: Simplify 0.5 into 0.5 16.853 * [taylor]: Taking taylor expansion of phi1 in phi1 16.853 * [backup-simplify]: Simplify 0 into 0 16.853 * [backup-simplify]: Simplify 1 into 1 16.853 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.854 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.854 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 16.854 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.854 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.854 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.854 * [backup-simplify]: Simplify 0.5 into 0.5 16.854 * [taylor]: Taking taylor expansion of phi2 in phi1 16.854 * [backup-simplify]: Simplify phi2 into phi2 16.854 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.854 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.854 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.854 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.854 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.854 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.854 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.854 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.854 * [backup-simplify]: Simplify lambda2 into lambda2 16.854 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.854 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.855 * [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)) 16.855 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.855 * [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)) 16.855 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1 16.855 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 16.855 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 16.855 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 16.855 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.855 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.855 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.855 * [backup-simplify]: Simplify 0.5 into 0.5 16.855 * [taylor]: Taking taylor expansion of phi1 in phi1 16.855 * [backup-simplify]: Simplify 0 into 0 16.855 * [backup-simplify]: Simplify 1 into 1 16.855 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.855 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.856 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 16.856 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.856 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.856 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.856 * [backup-simplify]: Simplify 0.5 into 0.5 16.856 * [taylor]: Taking taylor expansion of phi2 in phi1 16.856 * [backup-simplify]: Simplify phi2 into phi2 16.856 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.856 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.856 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.856 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.856 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.856 * [backup-simplify]: Simplify (- 0) into 0 16.856 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.856 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.856 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.856 * [backup-simplify]: Simplify lambda1 into lambda1 16.857 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.857 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.857 * [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)) 16.857 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.857 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 16.857 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1 16.857 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 16.857 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 16.857 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 16.857 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.857 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.857 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.857 * [backup-simplify]: Simplify 0.5 into 0.5 16.857 * [taylor]: Taking taylor expansion of phi1 in phi1 16.857 * [backup-simplify]: Simplify 0 into 0 16.857 * [backup-simplify]: Simplify 1 into 1 16.858 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.858 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.858 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 16.858 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.858 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.858 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.858 * [backup-simplify]: Simplify 0.5 into 0.5 16.858 * [taylor]: Taking taylor expansion of phi2 in phi1 16.858 * [backup-simplify]: Simplify phi2 into phi2 16.858 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.858 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.858 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.858 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.858 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.858 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.858 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.858 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.858 * [backup-simplify]: Simplify lambda1 into lambda1 16.858 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.859 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.859 * [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)) 16.859 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.859 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 16.859 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 16.859 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 16.859 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 16.859 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.859 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.859 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.859 * [backup-simplify]: Simplify 0.5 into 0.5 16.859 * [taylor]: Taking taylor expansion of phi1 in phi1 16.859 * [backup-simplify]: Simplify 0 into 0 16.859 * [backup-simplify]: Simplify 1 into 1 16.860 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.860 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.860 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 16.860 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.860 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.860 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.860 * [backup-simplify]: Simplify 0.5 into 0.5 16.860 * [taylor]: Taking taylor expansion of phi2 in phi1 16.860 * [backup-simplify]: Simplify phi2 into phi2 16.860 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.860 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.860 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.860 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.860 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.860 * [backup-simplify]: Simplify (- 0) into 0 16.860 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.860 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.860 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.860 * [backup-simplify]: Simplify lambda2 into lambda2 16.860 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.861 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.861 * [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)) 16.861 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.861 * [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)) 16.861 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi1 16.861 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 16.861 * [taylor]: Taking taylor expansion of 2 in phi1 16.861 * [backup-simplify]: Simplify 2 into 2 16.861 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 16.861 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.861 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.861 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.861 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.861 * [backup-simplify]: Simplify 0.5 into 0.5 16.861 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.861 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.861 * [taylor]: Taking taylor expansion of phi1 in phi1 16.861 * [backup-simplify]: Simplify 0 into 0 16.861 * [backup-simplify]: Simplify 1 into 1 16.862 * [backup-simplify]: Simplify (/ 1 1) into 1 16.862 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.862 * [taylor]: Taking taylor expansion of phi2 in phi1 16.862 * [backup-simplify]: Simplify phi2 into phi2 16.862 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.862 * [backup-simplify]: Simplify (+ 1 0) into 1 16.862 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.862 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.862 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.862 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.863 * [backup-simplify]: Simplify lambda2 into lambda2 16.863 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.863 * [backup-simplify]: Simplify lambda1 into lambda1 16.863 * [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) 16.863 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.863 * [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)) 16.863 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi1 16.863 * [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 16.863 * [taylor]: Taking taylor expansion of 2 in phi1 16.863 * [backup-simplify]: Simplify 2 into 2 16.863 * [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 16.863 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 16.863 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.863 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.863 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.863 * [backup-simplify]: Simplify 0.5 into 0.5 16.863 * [taylor]: Taking taylor expansion of phi1 in phi1 16.863 * [backup-simplify]: Simplify 0 into 0 16.863 * [backup-simplify]: Simplify 1 into 1 16.864 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.864 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.864 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 16.864 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.864 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.864 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.864 * [backup-simplify]: Simplify 0.5 into 0.5 16.864 * [taylor]: Taking taylor expansion of phi1 in phi1 16.864 * [backup-simplify]: Simplify 0 into 0 16.864 * [backup-simplify]: Simplify 1 into 1 16.864 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.864 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.864 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 16.864 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.864 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.864 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.864 * [backup-simplify]: Simplify 0.5 into 0.5 16.864 * [taylor]: Taking taylor expansion of phi2 in phi1 16.864 * [backup-simplify]: Simplify phi2 into phi2 16.864 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.864 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.864 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.864 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.864 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.864 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.864 * [backup-simplify]: Simplify 0.5 into 0.5 16.865 * [taylor]: Taking taylor expansion of phi2 in phi1 16.865 * [backup-simplify]: Simplify phi2 into phi2 16.865 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.865 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.865 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.865 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.865 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.865 * [backup-simplify]: Simplify lambda2 into lambda2 16.865 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.865 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.865 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.865 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.865 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.865 * [backup-simplify]: Simplify (- 0) into 0 16.865 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.865 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.866 * [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)))) 16.866 * [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))))) 16.866 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.866 * [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)) 16.866 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi1 16.866 * [taylor]: Taking taylor expansion of 2 in phi1 16.866 * [backup-simplify]: Simplify 2 into 2 16.866 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi1 16.866 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 16.866 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.866 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.866 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.866 * [backup-simplify]: Simplify 0.5 into 0.5 16.866 * [taylor]: Taking taylor expansion of phi1 in phi1 16.866 * [backup-simplify]: Simplify 0 into 0 16.866 * [backup-simplify]: Simplify 1 into 1 16.867 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.867 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.867 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 16.867 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.867 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.867 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.867 * [backup-simplify]: Simplify 0.5 into 0.5 16.867 * [taylor]: Taking taylor expansion of phi1 in phi1 16.867 * [backup-simplify]: Simplify 0 into 0 16.867 * [backup-simplify]: Simplify 1 into 1 16.867 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.867 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.867 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 16.867 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.867 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.867 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.867 * [backup-simplify]: Simplify 0.5 into 0.5 16.867 * [taylor]: Taking taylor expansion of phi2 in phi1 16.867 * [backup-simplify]: Simplify phi2 into phi2 16.867 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.867 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.867 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.868 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.868 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.868 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.868 * [backup-simplify]: Simplify 0.5 into 0.5 16.868 * [taylor]: Taking taylor expansion of phi2 in phi1 16.868 * [backup-simplify]: Simplify phi2 into phi2 16.868 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.868 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.868 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.868 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.868 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.868 * [backup-simplify]: Simplify lambda1 into lambda1 16.868 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.868 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.868 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.868 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.868 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.868 * [backup-simplify]: Simplify (- 0) into 0 16.868 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.869 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.869 * [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)))) 16.869 * [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))))) 16.869 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.869 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 16.869 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi2 16.869 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi2 16.869 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 16.869 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 16.869 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 16.869 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 16.869 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.869 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.869 * [backup-simplify]: Simplify 0.5 into 0.5 16.869 * [taylor]: Taking taylor expansion of phi1 in phi2 16.869 * [backup-simplify]: Simplify phi1 into phi1 16.870 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.870 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.870 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.870 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.870 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.870 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.870 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 16.870 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 16.870 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.870 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.870 * [backup-simplify]: Simplify 0.5 into 0.5 16.870 * [taylor]: Taking taylor expansion of phi2 in phi2 16.870 * [backup-simplify]: Simplify 0 into 0 16.870 * [backup-simplify]: Simplify 1 into 1 16.870 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.870 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.870 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.870 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.870 * [backup-simplify]: Simplify lambda2 into lambda2 16.871 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.871 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.871 * [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)) 16.871 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.871 * [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)) 16.871 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2 16.871 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 16.871 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 16.871 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 16.871 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 16.871 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.871 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.871 * [backup-simplify]: Simplify 0.5 into 0.5 16.871 * [taylor]: Taking taylor expansion of phi1 in phi2 16.871 * [backup-simplify]: Simplify phi1 into phi1 16.871 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.871 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.871 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.872 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.872 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.872 * [backup-simplify]: Simplify (- 0) into 0 16.872 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.872 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 16.872 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 16.872 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.872 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.872 * [backup-simplify]: Simplify 0.5 into 0.5 16.872 * [taylor]: Taking taylor expansion of phi2 in phi2 16.872 * [backup-simplify]: Simplify 0 into 0 16.872 * [backup-simplify]: Simplify 1 into 1 16.872 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.872 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.872 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.873 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.873 * [backup-simplify]: Simplify lambda1 into lambda1 16.873 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.873 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.873 * [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)) 16.873 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.873 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 16.873 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2 16.873 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 16.873 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 16.873 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 16.873 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 16.873 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.873 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.873 * [backup-simplify]: Simplify 0.5 into 0.5 16.873 * [taylor]: Taking taylor expansion of phi1 in phi2 16.873 * [backup-simplify]: Simplify phi1 into phi1 16.873 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.874 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.874 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.874 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.874 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.874 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.874 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 16.874 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 16.874 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.874 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.874 * [backup-simplify]: Simplify 0.5 into 0.5 16.874 * [taylor]: Taking taylor expansion of phi2 in phi2 16.874 * [backup-simplify]: Simplify 0 into 0 16.874 * [backup-simplify]: Simplify 1 into 1 16.874 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.874 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.874 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.874 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.874 * [backup-simplify]: Simplify lambda1 into lambda1 16.874 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.875 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.875 * [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)) 16.875 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.875 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 16.875 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 16.875 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 16.875 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 16.875 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 16.875 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.875 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.875 * [backup-simplify]: Simplify 0.5 into 0.5 16.875 * [taylor]: Taking taylor expansion of phi1 in phi2 16.875 * [backup-simplify]: Simplify phi1 into phi1 16.875 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.875 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.875 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.875 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.876 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.876 * [backup-simplify]: Simplify (- 0) into 0 16.876 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.876 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 16.876 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 16.876 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.876 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.876 * [backup-simplify]: Simplify 0.5 into 0.5 16.876 * [taylor]: Taking taylor expansion of phi2 in phi2 16.876 * [backup-simplify]: Simplify 0 into 0 16.876 * [backup-simplify]: Simplify 1 into 1 16.877 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.877 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.877 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.877 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.877 * [backup-simplify]: Simplify lambda2 into lambda2 16.877 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.877 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.878 * [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)) 16.878 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.878 * [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)) 16.878 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi2 16.878 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 16.879 * [taylor]: Taking taylor expansion of 2 in phi2 16.879 * [backup-simplify]: Simplify 2 into 2 16.879 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 16.879 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 16.879 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.879 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.879 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.879 * [backup-simplify]: Simplify 0.5 into 0.5 16.879 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.879 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.879 * [taylor]: Taking taylor expansion of phi1 in phi2 16.879 * [backup-simplify]: Simplify phi1 into phi1 16.879 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.879 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.879 * [taylor]: Taking taylor expansion of phi2 in phi2 16.879 * [backup-simplify]: Simplify 0 into 0 16.879 * [backup-simplify]: Simplify 1 into 1 16.880 * [backup-simplify]: Simplify (/ 1 1) into 1 16.880 * [backup-simplify]: Simplify (+ 0 1) into 1 16.880 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.881 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.881 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 16.881 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.881 * [backup-simplify]: Simplify lambda2 into lambda2 16.881 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.881 * [backup-simplify]: Simplify lambda1 into lambda1 16.881 * [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) 16.881 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.882 * [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)) 16.882 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi2 16.882 * [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 16.882 * [taylor]: Taking taylor expansion of 2 in phi2 16.882 * [backup-simplify]: Simplify 2 into 2 16.882 * [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 16.882 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 16.882 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 16.882 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.882 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.882 * [backup-simplify]: Simplify 0.5 into 0.5 16.882 * [taylor]: Taking taylor expansion of phi1 in phi2 16.882 * [backup-simplify]: Simplify phi1 into phi1 16.882 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.882 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.882 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.882 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 16.882 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 16.883 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.883 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.883 * [backup-simplify]: Simplify 0.5 into 0.5 16.883 * [taylor]: Taking taylor expansion of phi1 in phi2 16.883 * [backup-simplify]: Simplify phi1 into phi1 16.883 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.883 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.883 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.883 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 16.883 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 16.883 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.883 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.883 * [backup-simplify]: Simplify 0.5 into 0.5 16.883 * [taylor]: Taking taylor expansion of phi2 in phi2 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 (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.884 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 16.884 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.884 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.884 * [backup-simplify]: Simplify 0.5 into 0.5 16.884 * [taylor]: Taking taylor expansion of phi2 in phi2 16.884 * [backup-simplify]: Simplify 0 into 0 16.884 * [backup-simplify]: Simplify 1 into 1 16.885 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.885 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.885 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.885 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.885 * [backup-simplify]: Simplify lambda2 into lambda2 16.885 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.885 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.885 * [backup-simplify]: Simplify (- 0) into 0 16.886 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.886 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.886 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.886 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.886 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.886 * [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)))) 16.887 * [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))))) 16.887 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.887 * [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)) 16.887 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi2 16.887 * [taylor]: Taking taylor expansion of 2 in phi2 16.887 * [backup-simplify]: Simplify 2 into 2 16.887 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi2 16.888 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 16.888 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 16.888 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.888 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.888 * [backup-simplify]: Simplify 0.5 into 0.5 16.888 * [taylor]: Taking taylor expansion of phi1 in phi2 16.888 * [backup-simplify]: Simplify phi1 into phi1 16.888 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.888 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.888 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.888 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 16.888 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 16.888 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.888 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.888 * [backup-simplify]: Simplify 0.5 into 0.5 16.888 * [taylor]: Taking taylor expansion of phi1 in phi2 16.888 * [backup-simplify]: Simplify phi1 into phi1 16.888 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.888 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.889 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.889 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 16.889 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 16.889 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.889 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.889 * [backup-simplify]: Simplify 0.5 into 0.5 16.889 * [taylor]: Taking taylor expansion of phi2 in phi2 16.889 * [backup-simplify]: Simplify 0 into 0 16.889 * [backup-simplify]: Simplify 1 into 1 16.895 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.895 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 16.895 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.895 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.895 * [backup-simplify]: Simplify 0.5 into 0.5 16.895 * [taylor]: Taking taylor expansion of phi2 in phi2 16.895 * [backup-simplify]: Simplify 0 into 0 16.895 * [backup-simplify]: Simplify 1 into 1 16.896 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.896 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.896 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.896 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.896 * [backup-simplify]: Simplify lambda1 into lambda1 16.896 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.896 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.897 * [backup-simplify]: Simplify (- 0) into 0 16.897 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.897 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.897 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.897 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.897 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.897 * [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)))) 16.898 * [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))))) 16.898 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.898 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 16.898 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi2 16.898 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi2 16.899 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 16.899 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 16.899 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 16.899 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 16.899 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.899 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.899 * [backup-simplify]: Simplify 0.5 into 0.5 16.899 * [taylor]: Taking taylor expansion of phi1 in phi2 16.899 * [backup-simplify]: Simplify phi1 into phi1 16.899 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.899 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.899 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.899 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.899 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.899 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.899 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 16.899 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 16.900 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.900 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.900 * [backup-simplify]: Simplify 0.5 into 0.5 16.900 * [taylor]: Taking taylor expansion of phi2 in phi2 16.900 * [backup-simplify]: Simplify 0 into 0 16.900 * [backup-simplify]: Simplify 1 into 1 16.900 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.900 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.900 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.900 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.900 * [backup-simplify]: Simplify lambda2 into lambda2 16.901 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.901 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.901 * [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)) 16.901 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.902 * [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)) 16.902 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2 16.902 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 16.902 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 16.902 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 16.902 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 16.902 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.902 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.902 * [backup-simplify]: Simplify 0.5 into 0.5 16.902 * [taylor]: Taking taylor expansion of phi1 in phi2 16.902 * [backup-simplify]: Simplify phi1 into phi1 16.902 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.902 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.902 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.902 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.902 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.903 * [backup-simplify]: Simplify (- 0) into 0 16.903 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.903 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 16.903 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 16.903 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.903 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.903 * [backup-simplify]: Simplify 0.5 into 0.5 16.903 * [taylor]: Taking taylor expansion of phi2 in phi2 16.903 * [backup-simplify]: Simplify 0 into 0 16.903 * [backup-simplify]: Simplify 1 into 1 16.904 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.904 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.904 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.904 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.904 * [backup-simplify]: Simplify lambda1 into lambda1 16.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.905 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.905 * [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)) 16.905 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.905 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 16.906 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2 16.906 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 16.906 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 16.906 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 16.906 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 16.906 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.906 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.906 * [backup-simplify]: Simplify 0.5 into 0.5 16.906 * [taylor]: Taking taylor expansion of phi1 in phi2 16.906 * [backup-simplify]: Simplify phi1 into phi1 16.906 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.906 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.906 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.906 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.907 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.907 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 16.907 * [taylor]: Taking taylor expansion of (sin (/ 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 (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.908 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.908 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.908 * [backup-simplify]: Simplify lambda1 into lambda1 16.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.908 * [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)) 16.908 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.909 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 16.909 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 16.909 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 16.909 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 16.909 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 16.909 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) 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 phi1 in phi2 16.909 * [backup-simplify]: Simplify phi1 into phi1 16.909 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.909 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.909 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.909 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.910 * [backup-simplify]: Simplify (- 0) into 0 16.910 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.910 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 16.910 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 16.910 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) 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 phi2 in phi2 16.910 * [backup-simplify]: Simplify 0 into 0 16.910 * [backup-simplify]: Simplify 1 into 1 16.911 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.911 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.911 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.911 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.911 * [backup-simplify]: Simplify lambda2 into lambda2 16.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.912 * [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)) 16.912 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.912 * [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)) 16.912 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi2 16.912 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 16.912 * [taylor]: Taking taylor expansion of 2 in phi2 16.912 * [backup-simplify]: Simplify 2 into 2 16.913 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 16.913 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 16.913 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.913 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.913 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.913 * [backup-simplify]: Simplify 0.5 into 0.5 16.913 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.913 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.913 * [taylor]: Taking taylor expansion of phi1 in phi2 16.913 * [backup-simplify]: Simplify phi1 into phi1 16.913 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.913 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.913 * [taylor]: Taking taylor expansion of phi2 in phi2 16.913 * [backup-simplify]: Simplify 0 into 0 16.913 * [backup-simplify]: Simplify 1 into 1 16.913 * [backup-simplify]: Simplify (/ 1 1) into 1 16.914 * [backup-simplify]: Simplify (+ 0 1) into 1 16.914 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.914 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.915 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 16.915 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.915 * [backup-simplify]: Simplify lambda2 into lambda2 16.915 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.915 * [backup-simplify]: Simplify lambda1 into lambda1 16.915 * [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) 16.915 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.915 * [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)) 16.915 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi2 16.916 * [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 16.916 * [taylor]: Taking taylor expansion of 2 in phi2 16.916 * [backup-simplify]: Simplify 2 into 2 16.916 * [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 16.916 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 16.916 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 16.916 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.916 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.916 * [backup-simplify]: Simplify 0.5 into 0.5 16.916 * [taylor]: Taking taylor expansion of phi1 in phi2 16.916 * [backup-simplify]: Simplify phi1 into phi1 16.916 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.916 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.916 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.916 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 16.916 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 16.916 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.916 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.916 * [backup-simplify]: Simplify 0.5 into 0.5 16.916 * [taylor]: Taking taylor expansion of phi1 in phi2 16.916 * [backup-simplify]: Simplify phi1 into phi1 16.916 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.917 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.917 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.917 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 16.917 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 16.917 * [taylor]: Taking taylor expansion of (/ 0.5 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 phi2 in phi2 16.917 * [backup-simplify]: Simplify 0 into 0 16.917 * [backup-simplify]: Simplify 1 into 1 16.917 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.917 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.918 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 16.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.918 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.918 * [backup-simplify]: Simplify 0.5 into 0.5 16.918 * [taylor]: Taking taylor expansion of phi2 in phi2 16.918 * [backup-simplify]: Simplify 0 into 0 16.918 * [backup-simplify]: Simplify 1 into 1 16.918 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.918 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.918 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.918 * [backup-simplify]: Simplify lambda2 into lambda2 16.918 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.919 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.919 * [backup-simplify]: Simplify (- 0) into 0 16.919 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.919 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.919 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.919 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.920 * [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)))) 16.920 * [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))))) 16.920 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.921 * [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)) 16.921 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi2 16.921 * [taylor]: Taking taylor expansion of 2 in phi2 16.921 * [backup-simplify]: Simplify 2 into 2 16.921 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi2 16.921 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 16.921 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 16.921 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.921 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.921 * [backup-simplify]: Simplify 0.5 into 0.5 16.921 * [taylor]: Taking taylor expansion of phi1 in phi2 16.921 * [backup-simplify]: Simplify phi1 into phi1 16.921 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.921 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.921 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.921 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 16.921 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 16.922 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) 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 phi1 in phi2 16.922 * [backup-simplify]: Simplify phi1 into phi1 16.922 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.922 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.922 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.922 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 16.922 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 16.922 * [taylor]: Taking taylor expansion of (/ 0.5 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 phi2 in phi2 16.922 * [backup-simplify]: Simplify 0 into 0 16.922 * [backup-simplify]: Simplify 1 into 1 16.923 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.923 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.923 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 16.923 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.923 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.923 * [backup-simplify]: Simplify 0.5 into 0.5 16.923 * [taylor]: Taking taylor expansion of phi2 in phi2 16.923 * [backup-simplify]: Simplify 0 into 0 16.923 * [backup-simplify]: Simplify 1 into 1 16.923 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.924 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.924 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.924 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.924 * [backup-simplify]: Simplify lambda1 into lambda1 16.924 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.924 * [backup-simplify]: Simplify (- 0) into 0 16.924 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.925 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.925 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.925 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.925 * [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)))) 16.926 * [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))))) 16.926 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.926 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 16.927 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) 16.929 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) 16.932 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) 16.932 * [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))) 16.933 * [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))) 16.933 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) 16.935 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) 16.937 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) 16.939 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 16.945 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 16.945 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi1 16.945 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi1 16.945 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 16.945 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 16.945 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 16.945 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.945 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.945 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.945 * [backup-simplify]: Simplify 0.5 into 0.5 16.945 * [taylor]: Taking taylor expansion of phi1 in phi1 16.945 * [backup-simplify]: Simplify 0 into 0 16.945 * [backup-simplify]: Simplify 1 into 1 16.946 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.946 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.946 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 16.946 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.946 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.946 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.946 * [backup-simplify]: Simplify 0.5 into 0.5 16.946 * [taylor]: Taking taylor expansion of phi2 in phi1 16.946 * [backup-simplify]: Simplify phi2 into phi2 16.946 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.947 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.947 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.947 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.947 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.947 * [backup-simplify]: Simplify (- 0) into 0 16.947 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.947 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.947 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.948 * [backup-simplify]: Simplify lambda2 into lambda2 16.948 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.948 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.948 * [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)) 16.948 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.949 * [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)) 16.949 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1 16.949 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 16.949 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 16.949 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 16.949 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.949 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.949 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.949 * [backup-simplify]: Simplify 0.5 into 0.5 16.949 * [taylor]: Taking taylor expansion of phi1 in phi1 16.949 * [backup-simplify]: Simplify 0 into 0 16.949 * [backup-simplify]: Simplify 1 into 1 16.950 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.950 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.950 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 16.950 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.950 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.950 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.950 * [backup-simplify]: Simplify 0.5 into 0.5 16.950 * [taylor]: Taking taylor expansion of phi2 in phi1 16.950 * [backup-simplify]: Simplify phi2 into phi2 16.950 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.951 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.951 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.951 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.951 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.951 * [backup-simplify]: Simplify (- 0) into 0 16.951 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.951 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.952 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.952 * [backup-simplify]: Simplify lambda1 into lambda1 16.952 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.952 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.952 * [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)) 16.952 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.953 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 16.953 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1 16.953 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 16.953 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 16.953 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 16.953 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.953 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.953 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.953 * [backup-simplify]: Simplify 0.5 into 0.5 16.953 * [taylor]: Taking taylor expansion of phi1 in phi1 16.953 * [backup-simplify]: Simplify 0 into 0 16.953 * [backup-simplify]: Simplify 1 into 1 16.954 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.954 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.954 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 16.954 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.954 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.954 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.954 * [backup-simplify]: Simplify 0.5 into 0.5 16.954 * [taylor]: Taking taylor expansion of phi2 in phi1 16.954 * [backup-simplify]: Simplify phi2 into phi2 16.954 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.954 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.954 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.954 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.954 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.955 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.955 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.955 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.955 * [backup-simplify]: Simplify lambda1 into lambda1 16.955 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.955 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.955 * [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)) 16.955 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.956 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 16.956 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 16.956 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 16.956 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 16.956 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.956 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.956 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.956 * [backup-simplify]: Simplify 0.5 into 0.5 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 16.957 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.957 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.957 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 16.957 * [taylor]: Taking taylor expansion of (sin (/ 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 (sin (/ 0.5 phi2)) into (sin (/ 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)) 1) into (sin (/ 0.5 phi2)) 16.958 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.958 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 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 16.958 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.958 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.958 * [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)) 16.959 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.959 * [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)) 16.959 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi1 16.959 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 16.959 * [taylor]: Taking taylor expansion of 2 in phi1 16.959 * [backup-simplify]: Simplify 2 into 2 16.959 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 16.959 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.959 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.959 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 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 (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.959 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.959 * [taylor]: Taking taylor expansion of phi1 in phi1 16.959 * [backup-simplify]: Simplify 0 into 0 16.959 * [backup-simplify]: Simplify 1 into 1 16.960 * [backup-simplify]: Simplify (/ 1 1) into 1 16.960 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.960 * [taylor]: Taking taylor expansion of phi2 in phi1 16.960 * [backup-simplify]: Simplify phi2 into phi2 16.960 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.961 * [backup-simplify]: Simplify (+ 1 0) into 1 16.961 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.961 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.961 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.961 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.961 * [backup-simplify]: Simplify lambda2 into lambda2 16.961 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.961 * [backup-simplify]: Simplify lambda1 into lambda1 16.962 * [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) 16.962 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.962 * [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)) 16.962 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi1 16.962 * [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 16.962 * [taylor]: Taking taylor expansion of 2 in phi1 16.962 * [backup-simplify]: Simplify 2 into 2 16.962 * [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 16.962 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 16.962 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.963 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.963 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.963 * [backup-simplify]: Simplify 0.5 into 0.5 16.963 * [taylor]: Taking taylor expansion of phi1 in phi1 16.963 * [backup-simplify]: Simplify 0 into 0 16.963 * [backup-simplify]: Simplify 1 into 1 16.963 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.963 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.963 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 16.963 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.963 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.963 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.963 * [backup-simplify]: Simplify 0.5 into 0.5 16.963 * [taylor]: Taking taylor expansion of phi1 in phi1 16.963 * [backup-simplify]: Simplify 0 into 0 16.964 * [backup-simplify]: Simplify 1 into 1 16.964 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.964 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.964 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 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)) 16.965 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.965 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.965 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) 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 phi2 in phi1 16.965 * [backup-simplify]: Simplify phi2 into phi2 16.965 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.965 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.965 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 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)) 16.965 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.965 * [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 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.967 * [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)))) 16.967 * [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))))) 16.967 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.968 * [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)) 16.968 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi1 16.968 * [taylor]: Taking taylor expansion of 2 in phi1 16.968 * [backup-simplify]: Simplify 2 into 2 16.968 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi1 16.968 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 16.968 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.968 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.968 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.968 * [backup-simplify]: Simplify 0.5 into 0.5 16.968 * [taylor]: Taking taylor expansion of phi1 in phi1 16.968 * [backup-simplify]: Simplify 0 into 0 16.968 * [backup-simplify]: Simplify 1 into 1 16.968 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.969 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.969 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 16.969 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.969 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.969 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.969 * [backup-simplify]: Simplify 0.5 into 0.5 16.969 * [taylor]: Taking taylor expansion of phi1 in phi1 16.969 * [backup-simplify]: Simplify 0 into 0 16.969 * [backup-simplify]: Simplify 1 into 1 16.969 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.969 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.969 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 16.969 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.969 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.970 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.970 * [backup-simplify]: Simplify 0.5 into 0.5 16.970 * [taylor]: Taking taylor expansion of phi2 in phi1 16.970 * [backup-simplify]: Simplify phi2 into phi2 16.970 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.970 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.970 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.970 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.970 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.970 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.970 * [backup-simplify]: Simplify 0.5 into 0.5 16.970 * [taylor]: Taking taylor expansion of phi2 in phi1 16.970 * [backup-simplify]: Simplify phi2 into phi2 16.970 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.970 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.970 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.970 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.970 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.970 * [backup-simplify]: Simplify lambda1 into lambda1 16.970 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.971 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.971 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.971 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.971 * [backup-simplify]: Simplify (- 0) into 0 16.971 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.972 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.972 * [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)))) 16.972 * [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))))) 16.972 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.973 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 16.974 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (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 lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) 16.976 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (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 lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) 16.978 * [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 lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) 16.979 * [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))) 16.979 * [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))) 16.980 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) 16.981 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) 16.983 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) 16.985 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 16.991 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 16.991 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1 16.991 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1 16.991 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 16.991 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 16.991 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 16.991 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 16.991 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.991 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.991 * [backup-simplify]: Simplify 0.5 into 0.5 16.991 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.991 * [backup-simplify]: Simplify phi1 into phi1 16.991 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.992 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.992 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.992 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.992 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.992 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.992 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 16.992 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 16.992 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.992 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.992 * [backup-simplify]: Simplify 0.5 into 0.5 16.992 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.992 * [backup-simplify]: Simplify phi2 into phi2 16.992 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.992 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.992 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.993 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.993 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.993 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.993 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.993 * [backup-simplify]: Simplify lambda2 into lambda2 16.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.994 * [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)) 16.994 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.994 * [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)) 16.994 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 16.994 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 16.994 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 16.994 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 16.994 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 16.994 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.994 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.994 * [backup-simplify]: Simplify 0.5 into 0.5 16.994 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.994 * [backup-simplify]: Simplify phi1 into phi1 16.994 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.995 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.995 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.995 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.995 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.995 * [backup-simplify]: Simplify (- 0) into 0 16.996 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.996 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 16.996 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 16.996 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.996 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.996 * [backup-simplify]: Simplify 0.5 into 0.5 16.996 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.996 * [backup-simplify]: Simplify phi2 into phi2 16.996 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.996 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.996 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.996 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.996 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.997 * [backup-simplify]: Simplify (- 0) into 0 16.997 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.997 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.997 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.997 * [backup-simplify]: Simplify 0 into 0 16.997 * [backup-simplify]: Simplify 1 into 1 16.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.998 * [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)) 16.998 * [backup-simplify]: Simplify (* 1 1) into 1 16.998 * [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)) 16.999 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 16.999 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 16.999 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 16.999 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 16.999 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 16.999 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.999 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.999 * [backup-simplify]: Simplify 0.5 into 0.5 16.999 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.999 * [backup-simplify]: Simplify phi1 into phi1 16.999 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.999 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.999 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.999 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.999 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.999 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.999 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 17.000 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 17.000 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.000 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.000 * [backup-simplify]: Simplify 0.5 into 0.5 17.000 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.000 * [backup-simplify]: Simplify phi2 into phi2 17.000 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.000 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.000 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.000 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.000 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.000 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.000 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.001 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.001 * [backup-simplify]: Simplify 0 into 0 17.001 * [backup-simplify]: Simplify 1 into 1 17.001 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.001 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.001 * [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)) 17.002 * [backup-simplify]: Simplify (* 1 1) into 1 17.002 * [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)) 17.002 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 17.002 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 17.002 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 17.002 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 17.002 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.002 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.002 * [backup-simplify]: Simplify 0.5 into 0.5 17.002 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.002 * [backup-simplify]: Simplify phi1 into phi1 17.003 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.003 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.003 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.003 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.003 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.003 * [backup-simplify]: Simplify (- 0) into 0 17.003 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.004 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 17.004 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 17.004 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.004 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.004 * [backup-simplify]: Simplify 0.5 into 0.5 17.004 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.004 * [backup-simplify]: Simplify phi2 into phi2 17.004 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.004 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.004 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.004 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.004 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.005 * [backup-simplify]: Simplify (- 0) into 0 17.005 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.005 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.005 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.005 * [backup-simplify]: Simplify lambda2 into lambda2 17.005 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.005 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.005 * [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)) 17.006 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.006 * [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)) 17.006 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1 17.006 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 17.006 * [taylor]: Taking taylor expansion of 2 in lambda1 17.006 * [backup-simplify]: Simplify 2 into 2 17.006 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 17.006 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.006 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.006 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 17.006 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.006 * [backup-simplify]: Simplify 0.5 into 0.5 17.006 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.006 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.006 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.007 * [backup-simplify]: Simplify phi1 into phi1 17.007 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.007 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.007 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.007 * [backup-simplify]: Simplify phi2 into phi2 17.007 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.007 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.007 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.007 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.007 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.008 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.008 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.008 * [backup-simplify]: Simplify (- 0) into 0 17.008 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.009 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 17.009 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.009 * [backup-simplify]: Simplify lambda2 into lambda2 17.009 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.009 * [backup-simplify]: Simplify 0 into 0 17.009 * [backup-simplify]: Simplify 1 into 1 17.009 * [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) 17.009 * [backup-simplify]: Simplify (* lambda2 0) into 0 17.010 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 17.010 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 17.010 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1 17.010 * [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 17.010 * [taylor]: Taking taylor expansion of 2 in lambda1 17.010 * [backup-simplify]: Simplify 2 into 2 17.010 * [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 17.010 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 17.010 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 17.011 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.011 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.011 * [backup-simplify]: Simplify 0.5 into 0.5 17.011 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.011 * [backup-simplify]: Simplify phi1 into phi1 17.011 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.011 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.011 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.011 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 17.011 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 17.011 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.011 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.011 * [backup-simplify]: Simplify 0.5 into 0.5 17.011 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.011 * [backup-simplify]: Simplify phi1 into phi1 17.011 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.011 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.011 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.011 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 17.011 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 17.011 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.012 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.012 * [backup-simplify]: Simplify 0.5 into 0.5 17.012 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.012 * [backup-simplify]: Simplify phi2 into phi2 17.012 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.012 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.012 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 17.012 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.012 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.012 * [backup-simplify]: Simplify 0.5 into 0.5 17.012 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.012 * [backup-simplify]: Simplify phi2 into phi2 17.012 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.012 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.012 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.012 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.012 * [backup-simplify]: Simplify lambda2 into lambda2 17.012 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.013 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.013 * [backup-simplify]: Simplify (- 0) into 0 17.013 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.013 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.013 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.014 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.014 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.014 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.014 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 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)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.015 * [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)))) 17.016 * [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))))) 17.016 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.016 * [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)) 17.016 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1 17.016 * [taylor]: Taking taylor expansion of 2 in lambda1 17.016 * [backup-simplify]: Simplify 2 into 2 17.016 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1 17.016 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 17.016 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 17.017 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.017 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.017 * [backup-simplify]: Simplify 0.5 into 0.5 17.017 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.017 * [backup-simplify]: Simplify phi1 into phi1 17.017 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.017 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.017 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.017 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 17.017 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 17.017 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.017 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.017 * [backup-simplify]: Simplify 0.5 into 0.5 17.017 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.017 * [backup-simplify]: Simplify phi1 into phi1 17.017 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.017 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.017 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.017 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 17.017 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 17.017 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.017 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.018 * [backup-simplify]: Simplify 0.5 into 0.5 17.018 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.018 * [backup-simplify]: Simplify phi2 into phi2 17.018 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.018 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.018 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.018 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 17.018 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.018 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.018 * [backup-simplify]: Simplify 0.5 into 0.5 17.018 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.018 * [backup-simplify]: Simplify phi2 into phi2 17.018 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.018 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.018 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.018 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.018 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.018 * [backup-simplify]: Simplify 0 into 0 17.018 * [backup-simplify]: Simplify 1 into 1 17.018 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.019 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.019 * [backup-simplify]: Simplify (- 0) into 0 17.019 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.019 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.020 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.020 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.021 * [backup-simplify]: Simplify (- 0) into 0 17.021 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.021 * [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)))) 17.021 * [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))))) 17.022 * [backup-simplify]: Simplify (* 1 1) into 1 17.022 * [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))))) 17.023 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 0) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.024 * [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))) 17.024 * [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))) 17.025 * [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)))))) 17.025 * [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)))))) 17.026 * [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)))))) 17.026 * [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))))))) 17.028 * [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))))))) 17.028 * [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 lambda2 17.028 * [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 lambda2 17.028 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.028 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.028 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.028 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.028 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.028 * [backup-simplify]: Simplify 0.5 into 0.5 17.028 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.028 * [backup-simplify]: Simplify phi1 into phi1 17.028 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.028 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.028 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.028 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.029 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.029 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.029 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.029 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.029 * [taylor]: Taking taylor expansion of (/ 0.5 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 phi2 in lambda2 17.029 * [backup-simplify]: Simplify phi2 into phi2 17.029 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.029 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.029 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.029 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.029 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.030 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.030 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.030 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.030 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.030 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.030 * [backup-simplify]: Simplify 0.5 into 0.5 17.030 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.030 * [backup-simplify]: Simplify phi1 into phi1 17.030 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.030 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.030 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.030 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.030 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.031 * [backup-simplify]: Simplify (- 0) into 0 17.031 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.031 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.031 * [taylor]: Taking taylor expansion of (cos (/ 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 (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.032 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.032 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.032 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.032 * [backup-simplify]: Simplify (- 0) into 0 17.032 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.032 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.032 * [taylor]: Taking taylor expansion of 2 in lambda2 17.032 * [backup-simplify]: Simplify 2 into 2 17.032 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 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 17.032 * [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 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 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 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 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 17.034 * [backup-simplify]: Simplify phi2 into phi2 17.034 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.034 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.034 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.034 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.034 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.034 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.034 * [backup-simplify]: Simplify 0.5 into 0.5 17.034 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.034 * [backup-simplify]: Simplify phi2 into phi2 17.034 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.034 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.034 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.034 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.035 * [backup-simplify]: Simplify (+ 0) into 0 17.035 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.036 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.036 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.037 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.037 * [backup-simplify]: Simplify (+ 0 0) into 0 17.038 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.038 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.038 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.039 * [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 17.039 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.039 * [backup-simplify]: Simplify (+ 0) into 0 17.040 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.040 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.041 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.042 * [backup-simplify]: Simplify (- 0) into 0 17.042 * [backup-simplify]: Simplify (+ 0 0) into 0 17.042 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.043 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.043 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.044 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.044 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.044 * [backup-simplify]: Simplify (+ 0) into 0 17.045 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.045 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.046 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.046 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.047 * [backup-simplify]: Simplify (+ 0 0) into 0 17.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.047 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.047 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.048 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.048 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.049 * [backup-simplify]: Simplify (+ 0) into 0 17.049 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.049 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.051 * [backup-simplify]: Simplify (- 0) into 0 17.051 * [backup-simplify]: Simplify (+ 0 0) into 0 17.051 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.052 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.052 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.053 * [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 17.053 * [backup-simplify]: Simplify (+ 0 0) into 0 17.053 * [backup-simplify]: Simplify (+ 0 0) into 0 17.054 * [backup-simplify]: Simplify (+ 0 0) into 0 17.054 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.055 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 17.055 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 17.056 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 17.056 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.056 * [backup-simplify]: Simplify (+ 0) into 0 17.057 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.057 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.058 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.058 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.059 * [backup-simplify]: Simplify (+ 0 0) into 0 17.059 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.059 * [backup-simplify]: Simplify (+ 0) into 0 17.060 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.060 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.061 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.061 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.062 * [backup-simplify]: Simplify (- 0) into 0 17.062 * [backup-simplify]: Simplify (+ 0 0) into 0 17.062 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.062 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.063 * [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 17.064 * [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 17.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.065 * [backup-simplify]: Simplify (+ 0) into 0 17.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.065 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.067 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.067 * [backup-simplify]: Simplify (+ 0 0) into 0 17.067 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.068 * [backup-simplify]: Simplify (+ 0) into 0 17.068 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.068 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.068 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.069 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.069 * [backup-simplify]: Simplify (- 0) into 0 17.069 * [backup-simplify]: Simplify (+ 0 0) into 0 17.069 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.069 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.070 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.071 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into 0 17.071 * [backup-simplify]: Simplify (+ 0 0) into 0 17.071 * [backup-simplify]: Simplify (+ 0 0) into 0 17.071 * [backup-simplify]: Simplify (- 0) into 0 17.072 * [backup-simplify]: Simplify (+ 0 0) into 0 17.072 * [taylor]: Taking taylor expansion of 0 in phi1 17.072 * [backup-simplify]: Simplify 0 into 0 17.072 * [taylor]: Taking taylor expansion of 0 in lambda1 17.072 * [backup-simplify]: Simplify 0 into 0 17.072 * [backup-simplify]: Simplify (+ 0) into 0 17.072 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.072 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.073 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.073 * [backup-simplify]: Simplify (- 0) into 0 17.074 * [backup-simplify]: Simplify (+ 0 0) into 0 17.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.074 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.074 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.075 * [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 17.075 * [backup-simplify]: Simplify (+ 0) into 0 17.075 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.075 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.076 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.076 * [backup-simplify]: Simplify (- 0) into 0 17.077 * [backup-simplify]: Simplify (+ 0 0) into 0 17.077 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.077 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.077 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.077 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.077 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.078 * [backup-simplify]: Simplify (+ 0) into 0 17.078 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.078 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.079 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.079 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.079 * [backup-simplify]: Simplify (+ 0 0) into 0 17.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.080 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.080 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.080 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.080 * [backup-simplify]: Simplify (+ 0) into 0 17.081 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.081 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.085 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.086 * [backup-simplify]: Simplify (+ 0 0) into 0 17.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.086 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.086 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.087 * [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 17.087 * [backup-simplify]: Simplify (+ 0 0) into 0 17.087 * [backup-simplify]: Simplify (+ 0 0) into 0 17.087 * [backup-simplify]: Simplify (+ 0 0) into 0 17.088 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.088 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 17.088 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 17.089 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 17.089 * [backup-simplify]: Simplify (+ 0) into 0 17.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.089 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.090 * [backup-simplify]: Simplify (- 0) into 0 17.091 * [backup-simplify]: Simplify (+ 0 0) into 0 17.091 * [backup-simplify]: Simplify (+ 0) into 0 17.091 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.091 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.092 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.092 * [backup-simplify]: Simplify (+ 0 0) into 0 17.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.093 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.093 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.093 * [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 17.094 * [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 17.094 * [backup-simplify]: Simplify (+ 0) into 0 17.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.095 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.096 * [backup-simplify]: Simplify (- 0) into 0 17.096 * [backup-simplify]: Simplify (+ 0 0) into 0 17.096 * [backup-simplify]: Simplify (+ 0) into 0 17.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.097 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.098 * [backup-simplify]: Simplify (+ 0 0) into 0 17.099 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.099 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.099 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.099 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.100 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.101 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into 0 17.102 * [backup-simplify]: Simplify (+ 0 0) into 0 17.102 * [backup-simplify]: Simplify (+ 0 0) into 0 17.102 * [backup-simplify]: Simplify (- 0) into 0 17.103 * [backup-simplify]: Simplify (+ 0 0) into 0 17.103 * [taylor]: Taking taylor expansion of 0 in lambda1 17.103 * [backup-simplify]: Simplify 0 into 0 17.103 * [backup-simplify]: Simplify (+ 0) into 0 17.104 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.104 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.105 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.106 * [backup-simplify]: Simplify (- 0) into 0 17.106 * [backup-simplify]: Simplify (+ 0 0) into 0 17.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.106 * [backup-simplify]: Simplify (+ 0) into 0 17.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.107 * [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 17.110 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.110 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.112 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 17.112 * [backup-simplify]: Simplify (+ 0) into 0 17.113 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.113 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.114 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.115 * [backup-simplify]: Simplify (+ 0 0) into 0 17.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.115 * [backup-simplify]: Simplify (+ 0) into 0 17.116 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.116 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.118 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.118 * [backup-simplify]: Simplify (+ 0 0) into 0 17.118 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.119 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.119 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.121 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 17.121 * [backup-simplify]: Simplify (+ 0 0) into 0 17.122 * [backup-simplify]: Simplify (+ 0 0) into 0 17.122 * [backup-simplify]: Simplify (+ 0 0) into 0 17.123 * [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)) 17.123 * [backup-simplify]: Simplify (+ 0) into 0 17.123 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.124 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.125 * [backup-simplify]: Simplify (- 0) into 0 17.126 * [backup-simplify]: Simplify (+ 0 0) into 0 17.126 * [backup-simplify]: Simplify (+ 0) into 0 17.127 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.127 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.128 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.128 * [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 phi2)))) into 0 17.129 * [backup-simplify]: Simplify (+ 0) into 0 17.130 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.130 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.131 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.132 * [backup-simplify]: Simplify (+ 0 0) into 0 17.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.132 * [backup-simplify]: Simplify (+ 0) into 0 17.133 * [backup-simplify]: Simplify (+ (* (cos (/ 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 (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.135 * [backup-simplify]: Simplify (- 0) into 0 17.135 * [backup-simplify]: Simplify (+ 0 0) into 0 17.135 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.136 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.137 * [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 17.138 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.138 * [backup-simplify]: Simplify (+ 0 0) into 0 17.139 * [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)) 17.139 * [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))) 17.140 * [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))) 17.140 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2 17.140 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 17.140 * [taylor]: Taking taylor expansion of 2 in lambda2 17.140 * [backup-simplify]: Simplify 2 into 2 17.140 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 17.140 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.140 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.140 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.140 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.140 * [backup-simplify]: Simplify 0.5 into 0.5 17.140 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.140 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.140 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.140 * [backup-simplify]: Simplify phi1 into phi1 17.140 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.140 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.140 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.140 * [backup-simplify]: Simplify phi2 into phi2 17.140 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.141 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.141 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.141 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.141 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.141 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.142 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.142 * [backup-simplify]: Simplify (- 0) into 0 17.142 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.142 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.142 * [backup-simplify]: Simplify 0 into 0 17.142 * [backup-simplify]: Simplify 1 into 1 17.143 * [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) 17.143 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.144 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 17.145 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.146 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.147 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.147 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.147 * [backup-simplify]: Simplify (+ 0 0) into 0 17.148 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 17.149 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 17.149 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.150 * [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 17.151 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.152 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.153 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.153 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.154 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.154 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.155 * [backup-simplify]: Simplify (- 0) into 0 17.155 * [backup-simplify]: Simplify (+ 0 0) into 0 17.155 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 17.156 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 17.156 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.157 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 17.158 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.158 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.159 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.159 * [backup-simplify]: Simplify (+ 0 0) into 0 17.160 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 17.160 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 17.160 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.161 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.161 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.162 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.162 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.162 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.163 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.163 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.163 * [backup-simplify]: Simplify (- 0) into 0 17.164 * [backup-simplify]: Simplify (+ 0 0) into 0 17.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 17.164 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 17.165 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.165 * [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 17.165 * [backup-simplify]: Simplify (+ 0 0) into 0 17.166 * [backup-simplify]: Simplify (+ 0 0) into 0 17.166 * [backup-simplify]: Simplify (+ 0 0) into 0 17.166 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 17.167 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.167 * [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 17.168 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into 0 17.168 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.168 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.169 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.169 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.170 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.170 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.170 * [backup-simplify]: Simplify (+ 0 0) into 0 17.170 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.171 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.171 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.172 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.172 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.172 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.173 * [backup-simplify]: Simplify (- 0) into 0 17.173 * [backup-simplify]: Simplify (+ 0 0) into 0 17.173 * [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 17.174 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.174 * [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 17.175 * [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 17.175 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.176 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.176 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.176 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.177 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.177 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.177 * [backup-simplify]: Simplify (+ 0 0) into 0 17.178 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.178 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.179 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.179 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.179 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.180 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.180 * [backup-simplify]: Simplify (- 0) into 0 17.180 * [backup-simplify]: Simplify (+ 0 0) into 0 17.181 * [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 17.181 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.182 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.182 * [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 lambda1 2))))) into 0 17.183 * [backup-simplify]: Simplify (+ 0 0) into 0 17.183 * [backup-simplify]: Simplify (+ 0 0) into 0 17.183 * [backup-simplify]: Simplify (- 0) into 0 17.183 * [backup-simplify]: Simplify (+ 0 0) into 0 17.183 * [taylor]: Taking taylor expansion of 0 in phi1 17.183 * [backup-simplify]: Simplify 0 into 0 17.183 * [taylor]: Taking taylor expansion of 0 in lambda1 17.184 * [backup-simplify]: Simplify 0 into 0 17.184 * [taylor]: Taking taylor expansion of 0 in lambda1 17.184 * [backup-simplify]: Simplify 0 into 0 17.184 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.185 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.185 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.185 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.186 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.186 * [backup-simplify]: Simplify (- 0) into 0 17.186 * [backup-simplify]: Simplify (+ 0 0) into 0 17.186 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.187 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 17.187 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 17.187 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.188 * [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 17.189 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.190 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.190 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.191 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.192 * [backup-simplify]: Simplify (- 0) into 0 17.192 * [backup-simplify]: Simplify (+ 0 0) into 0 17.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 17.194 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 17.194 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.195 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.196 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.197 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.197 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.198 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.199 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.199 * [backup-simplify]: Simplify (+ 0 0) into 0 17.200 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 17.200 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 17.201 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 17.201 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.202 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.203 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.204 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.205 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.206 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.206 * [backup-simplify]: Simplify (+ 0 0) into 0 17.207 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 17.207 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 17.208 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 17.208 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.209 * [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 17.210 * [backup-simplify]: Simplify (+ 0 0) into 0 17.210 * [backup-simplify]: Simplify (+ 0 0) into 0 17.210 * [backup-simplify]: Simplify (+ 0 0) into 0 17.211 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 17.211 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.212 * [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 17.218 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into 0 17.219 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.220 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.220 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.221 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.221 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.222 * [backup-simplify]: Simplify (- 0) into 0 17.222 * [backup-simplify]: Simplify (+ 0 0) into 0 17.223 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.224 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.224 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.225 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.225 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.226 * [backup-simplify]: Simplify (+ 0 0) into 0 17.226 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.227 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.228 * [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 17.228 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.229 * [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 17.231 * [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 17.232 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.233 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.234 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.235 * [backup-simplify]: Simplify (- 0) into 0 17.235 * [backup-simplify]: Simplify (+ 0 0) into 0 17.236 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.236 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.236 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.237 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.237 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.237 * [backup-simplify]: Simplify (+ 0 0) into 0 17.238 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.238 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.239 * [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 17.239 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.239 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.240 * [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 lambda1 2))))) into 0 17.241 * [backup-simplify]: Simplify (+ 0 0) into 0 17.241 * [backup-simplify]: Simplify (+ 0 0) into 0 17.241 * [backup-simplify]: Simplify (- 0) into 0 17.242 * [backup-simplify]: Simplify (+ 0 0) into 0 17.242 * [taylor]: Taking taylor expansion of 0 in lambda1 17.242 * [backup-simplify]: Simplify 0 into 0 17.242 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.243 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.243 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.243 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.244 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.244 * [backup-simplify]: Simplify (- 0) into 0 17.244 * [backup-simplify]: Simplify (+ 0 0) into 0 17.244 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.245 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.245 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.245 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.246 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.246 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.246 * [backup-simplify]: Simplify (- 0) into 0 17.247 * [backup-simplify]: Simplify (+ 0 0) into 0 17.247 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 17.247 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 17.248 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.249 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.250 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.250 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.251 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.251 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.251 * [backup-simplify]: Simplify (+ 0 0) into 0 17.251 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 17.252 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.252 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.253 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.253 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.254 * [backup-simplify]: Simplify (+ 0 0) into 0 17.254 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 17.254 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 17.255 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.256 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.256 * [backup-simplify]: Simplify (+ 0 (/ (* (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)) 17.257 * [backup-simplify]: Simplify (+ 0 (/ (* (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)) 17.257 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) 17.257 * [backup-simplify]: Simplify (+ 0) into 0 17.258 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 17.258 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 17.258 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 17.258 * [backup-simplify]: Simplify (+ 0 0) into 0 17.259 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 17.259 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.259 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 17.260 * [backup-simplify]: Simplify (- 0) into 0 17.260 * [backup-simplify]: Simplify (+ 0 0) into 0 17.260 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.260 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 17.261 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 17.261 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 17.261 * [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))) 17.262 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.263 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.263 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.263 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.264 * [backup-simplify]: Simplify (- 0) into 0 17.264 * [backup-simplify]: Simplify (+ 0 0) into 0 17.264 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.265 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.265 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.266 * [backup-simplify]: Simplify (+ 0 0) into 0 17.266 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.267 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.267 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.268 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.269 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.269 * [backup-simplify]: Simplify (+ 0 0) into 0 17.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.271 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.271 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.272 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.272 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.273 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.273 * [backup-simplify]: Simplify (- 0) into 0 17.274 * [backup-simplify]: Simplify (+ 0 0) into 0 17.274 * [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 17.275 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.277 * [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 17.278 * [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 17.279 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) 0) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) 17.280 * [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))) 17.280 * [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)))) 17.282 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) (- (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) into (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) 17.282 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2 17.282 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2 17.282 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 17.283 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.283 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.283 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.283 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.283 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.283 * [backup-simplify]: Simplify 0.5 into 0.5 17.283 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.283 * [backup-simplify]: Simplify phi1 into phi1 17.283 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.283 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.283 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.283 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.283 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.283 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.283 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.283 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.283 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.284 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.284 * [backup-simplify]: Simplify 0.5 into 0.5 17.284 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.284 * [backup-simplify]: Simplify phi2 into phi2 17.284 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.284 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.284 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.284 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.284 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.284 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.284 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.284 * [backup-simplify]: Simplify 0 into 0 17.284 * [backup-simplify]: Simplify 1 into 1 17.285 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.285 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.285 * [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)) 17.286 * [backup-simplify]: Simplify (* 1 1) into 1 17.286 * [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)) 17.286 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 17.286 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.286 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.286 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.286 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.286 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.286 * [backup-simplify]: Simplify 0.5 into 0.5 17.286 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.286 * [backup-simplify]: Simplify phi1 into phi1 17.286 * [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)) 17.287 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.287 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.287 * [backup-simplify]: Simplify (- 0) into 0 17.287 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.287 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.288 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.288 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.288 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.288 * [backup-simplify]: Simplify 0.5 into 0.5 17.288 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.288 * [backup-simplify]: Simplify phi2 into phi2 17.288 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.288 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.288 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.288 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.288 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.289 * [backup-simplify]: Simplify (- 0) into 0 17.289 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.289 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.289 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.289 * [backup-simplify]: Simplify 0 into 0 17.289 * [backup-simplify]: Simplify 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 (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.290 * [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)) 17.290 * [backup-simplify]: Simplify (* 1 1) into 1 17.290 * [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)) 17.290 * [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 17.291 * [taylor]: Taking taylor expansion of 2 in lambda2 17.291 * [backup-simplify]: Simplify 2 into 2 17.291 * [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 17.291 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.291 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.291 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.291 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.291 * [backup-simplify]: Simplify 0.5 into 0.5 17.291 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.291 * [backup-simplify]: Simplify phi1 into phi1 17.291 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.291 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.291 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.291 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.291 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.291 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.291 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.291 * [backup-simplify]: Simplify 0.5 into 0.5 17.291 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.291 * [backup-simplify]: Simplify phi1 into phi1 17.291 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.291 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.292 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.292 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.292 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.292 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.292 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.292 * [backup-simplify]: Simplify 0.5 into 0.5 17.292 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.292 * [backup-simplify]: Simplify phi2 into phi2 17.292 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.292 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.292 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.292 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.292 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.292 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.292 * [backup-simplify]: Simplify 0.5 into 0.5 17.293 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.293 * [backup-simplify]: Simplify phi2 into phi2 17.293 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.293 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.293 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.293 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.293 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.293 * [backup-simplify]: Simplify 0 into 0 17.293 * [backup-simplify]: Simplify 1 into 1 17.293 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.293 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.294 * [backup-simplify]: Simplify (- 0) into 0 17.294 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.294 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.294 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.294 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.294 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.294 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.294 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.294 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.295 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.295 * [backup-simplify]: Simplify (- 0) into 0 17.295 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.295 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.295 * [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)))) 17.296 * [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))))) 17.296 * [backup-simplify]: Simplify (* 1 1) into 1 17.296 * [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))))) 17.297 * [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))) 17.297 * [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)))))) 17.297 * [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))))))) 17.298 * [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))))))) 17.298 * [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))))))) 17.299 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 17.299 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 17.299 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 17.299 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.299 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.300 * [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)) 17.300 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.300 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.300 * [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)) 17.300 * [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))) 17.301 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.301 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.301 * [backup-simplify]: Simplify (- 0) into 0 17.301 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.301 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.301 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.301 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.301 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.301 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.301 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.301 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.301 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.302 * [backup-simplify]: Simplify (- 0) into 0 17.302 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.302 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.302 * [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)))) 17.302 * [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))))) 17.302 * [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)))))) 17.303 * [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))))))) 17.303 * [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))))))) 17.304 * [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))))))) 17.308 * [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 lambda1)) (* 1 1))) 2)) (+ (* (- (* 2 (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* (/ 1 (/ 1 lambda2)) (* (/ 1 (/ 1 lambda1)) (* 1 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)))))))) (pow (* (/ 1 (/ 1 lambda2)) (* 1 (* 1 1))) 2)))) into (- (+ (* (pow (sin (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi2)) 2) (pow lambda1 2))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2))) (* (pow (cos (* 0.5 phi1)) 2) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))))))) 17.309 * [backup-simplify]: Simplify (- (* (pow (- (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5))) (* (sin (* 0.5 (/ 1 (- phi2)))) (sin (* 0.5 (/ 1 (- phi1)))))) 2) (+ (pow (/ 1 (- lambda1)) 2) (pow (/ 1 (- lambda2)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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)))))))) 17.309 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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)))))))) in (phi2 phi1 lambda1 lambda2) around 0 17.309 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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)))))))) in lambda2 17.309 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) in lambda2 17.310 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 17.310 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 17.310 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 17.310 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.310 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.310 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.310 * [backup-simplify]: Simplify -0.5 into -0.5 17.310 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.310 * [backup-simplify]: Simplify phi2 into phi2 17.310 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.310 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.310 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.310 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.310 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.310 * [backup-simplify]: Simplify (- 0) into 0 17.310 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.310 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 17.310 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.310 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.310 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.310 * [backup-simplify]: Simplify -0.5 into -0.5 17.310 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.310 * [backup-simplify]: Simplify phi1 into phi1 17.310 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.311 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.311 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.311 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.311 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.311 * [backup-simplify]: Simplify (- 0) into 0 17.311 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.311 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.311 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.311 * [backup-simplify]: Simplify 0 into 0 17.311 * [backup-simplify]: Simplify 1 into 1 17.311 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.311 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.312 * [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)) 17.312 * [backup-simplify]: Simplify (* 1 1) into 1 17.312 * [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)) 17.312 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) in lambda2 17.312 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2 17.312 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 17.312 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 17.312 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.312 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.312 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.312 * [backup-simplify]: Simplify -0.5 into -0.5 17.312 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.312 * [backup-simplify]: Simplify phi2 into phi2 17.312 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.312 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.312 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.312 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.312 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.313 * [backup-simplify]: Simplify (- 0) into 0 17.313 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.313 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 17.313 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.313 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.313 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.313 * [backup-simplify]: Simplify -0.5 into -0.5 17.313 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.313 * [backup-simplify]: Simplify phi1 into phi1 17.313 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.313 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.313 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.313 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.313 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.313 * [backup-simplify]: Simplify (- 0) into 0 17.314 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.314 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.314 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.314 * [backup-simplify]: Simplify lambda1 into lambda1 17.314 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.314 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.314 * [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)) 17.314 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.314 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 17.314 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) in lambda2 17.314 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 17.314 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 17.314 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 17.314 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.314 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.314 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.314 * [backup-simplify]: Simplify -0.5 into -0.5 17.314 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.314 * [backup-simplify]: Simplify phi2 into phi2 17.315 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.315 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.315 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.315 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.315 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 17.315 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.315 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.315 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.315 * [backup-simplify]: Simplify -0.5 into -0.5 17.315 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.315 * [backup-simplify]: Simplify phi1 into phi1 17.315 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.315 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.315 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.315 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.315 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.315 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.315 * [backup-simplify]: Simplify 0 into 0 17.315 * [backup-simplify]: Simplify 1 into 1 17.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.316 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.316 * [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)) 17.316 * [backup-simplify]: Simplify (* 1 1) into 1 17.316 * [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)) 17.316 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2 17.316 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 17.316 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 17.316 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.316 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.316 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.316 * [backup-simplify]: Simplify -0.5 into -0.5 17.316 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.316 * [backup-simplify]: Simplify phi2 into phi2 17.316 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.317 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.317 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.317 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.317 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.317 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.317 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 17.317 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.317 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.317 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.317 * [backup-simplify]: Simplify -0.5 into -0.5 17.317 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.317 * [backup-simplify]: Simplify phi1 into phi1 17.317 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.317 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.317 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.317 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.317 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.317 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.317 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.317 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.317 * [backup-simplify]: Simplify lambda1 into lambda1 17.317 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.317 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.318 * [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)) 17.318 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.318 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 17.318 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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))))))) in lambda2 17.318 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) in lambda2 17.318 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda2 17.318 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.318 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.318 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.318 * [backup-simplify]: Simplify -0.5 into -0.5 17.318 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.318 * [backup-simplify]: Simplify phi1 into phi1 17.318 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.318 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.318 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.318 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda2 17.318 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.318 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.318 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.318 * [backup-simplify]: Simplify -0.5 into -0.5 17.318 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.319 * [backup-simplify]: Simplify phi2 into phi2 17.319 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.319 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.319 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda2 17.319 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.319 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.319 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.319 * [backup-simplify]: Simplify -0.5 into -0.5 17.319 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.319 * [backup-simplify]: Simplify phi1 into phi1 17.319 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.319 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.319 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.319 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.319 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.319 * [backup-simplify]: Simplify -0.5 into -0.5 17.319 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.319 * [backup-simplify]: Simplify phi2 into phi2 17.319 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.319 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.319 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.319 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.319 * [backup-simplify]: Simplify lambda1 into lambda1 17.319 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.319 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.319 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.320 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.320 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.320 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.320 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.320 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.320 * [backup-simplify]: Simplify (- 0) into 0 17.320 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.320 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.320 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.321 * [backup-simplify]: Simplify (- 0) into 0 17.321 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.321 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.321 * [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)))) 17.321 * [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))))) 17.321 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.321 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) 17.322 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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)))))) in lambda2 17.322 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in lambda2 17.322 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda2 17.322 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.322 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.322 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.322 * [backup-simplify]: Simplify -0.5 into -0.5 17.322 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.322 * [backup-simplify]: Simplify phi1 into phi1 17.322 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.322 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.322 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.322 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda2 17.322 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.322 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.322 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.322 * [backup-simplify]: Simplify -0.5 into -0.5 17.322 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.322 * [backup-simplify]: Simplify phi2 into phi2 17.322 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.322 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.322 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.322 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda2 17.322 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.322 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.322 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.322 * [backup-simplify]: Simplify -0.5 into -0.5 17.322 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.322 * [backup-simplify]: Simplify phi1 into phi1 17.322 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.322 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.322 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.322 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.322 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.322 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.323 * [backup-simplify]: Simplify -0.5 into -0.5 17.323 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.323 * [backup-simplify]: Simplify phi2 into phi2 17.323 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.323 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.323 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.323 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.323 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.323 * [backup-simplify]: Simplify lambda1 into lambda1 17.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.323 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.323 * [backup-simplify]: Simplify (- 0) into 0 17.323 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.323 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.324 * [backup-simplify]: Simplify (- 0) into 0 17.324 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.324 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.324 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.324 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.324 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.324 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 17.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.325 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.325 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.325 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) 17.325 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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))))) in lambda2 17.325 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) in lambda2 17.325 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda2 17.325 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.325 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.325 * [backup-simplify]: Simplify -0.5 into -0.5 17.325 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.325 * [backup-simplify]: Simplify phi1 into phi1 17.325 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.325 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.325 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda2 17.325 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.325 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.325 * [backup-simplify]: Simplify -0.5 into -0.5 17.325 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.325 * [backup-simplify]: Simplify phi2 into phi2 17.325 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.326 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda2 17.326 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.326 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.326 * [backup-simplify]: Simplify -0.5 into -0.5 17.326 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.326 * [backup-simplify]: Simplify phi1 into phi1 17.326 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.326 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.326 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.326 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.326 * [backup-simplify]: Simplify -0.5 into -0.5 17.326 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.326 * [backup-simplify]: Simplify phi2 into phi2 17.326 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.326 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.326 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.326 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.326 * [backup-simplify]: Simplify 0 into 0 17.326 * [backup-simplify]: Simplify 1 into 1 17.326 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.326 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.326 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.326 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.326 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.326 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.327 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.327 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.327 * [backup-simplify]: Simplify (- 0) into 0 17.327 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.327 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.327 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.327 * [backup-simplify]: Simplify (- 0) into 0 17.327 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.328 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.328 * [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)))) 17.328 * [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))))) 17.329 * [backup-simplify]: Simplify (* 1 1) into 1 17.329 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 17.329 * [taylor]: Taking taylor expansion of (+ (/ (* (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)))) in lambda2 17.329 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in lambda2 17.329 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda2 17.329 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.329 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.329 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.329 * [backup-simplify]: Simplify -0.5 into -0.5 17.329 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.329 * [backup-simplify]: Simplify phi1 into phi1 17.329 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.330 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.330 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.330 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda2 17.330 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.330 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.330 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.330 * [backup-simplify]: Simplify -0.5 into -0.5 17.330 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.330 * [backup-simplify]: Simplify phi2 into phi2 17.330 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.330 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.330 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.330 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda2 17.330 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.330 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.330 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.330 * [backup-simplify]: Simplify -0.5 into -0.5 17.330 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.330 * [backup-simplify]: Simplify phi1 into phi1 17.330 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.331 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.331 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.331 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.331 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.331 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.331 * [backup-simplify]: Simplify -0.5 into -0.5 17.331 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.331 * [backup-simplify]: Simplify phi2 into phi2 17.331 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.331 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.331 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.331 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.331 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.331 * [backup-simplify]: Simplify 0 into 0 17.331 * [backup-simplify]: Simplify 1 into 1 17.331 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.332 * [backup-simplify]: Simplify (- 0) into 0 17.332 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.332 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.332 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.333 * [backup-simplify]: Simplify (- 0) into 0 17.333 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.333 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.333 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.333 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.333 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.333 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.333 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.334 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 17.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.335 * [backup-simplify]: Simplify (* 1 1) into 1 17.335 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 17.335 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 17.335 * [taylor]: Taking taylor expansion of 2 in lambda2 17.335 * [backup-simplify]: Simplify 2 into 2 17.335 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 17.335 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.335 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.335 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.335 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.335 * [backup-simplify]: Simplify -0.5 into -0.5 17.335 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.335 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.335 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.336 * [backup-simplify]: Simplify phi1 into phi1 17.336 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.336 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.336 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.336 * [backup-simplify]: Simplify phi2 into phi2 17.336 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.336 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.336 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.336 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.336 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.337 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.337 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.337 * [backup-simplify]: Simplify (- 0) into 0 17.337 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.338 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 17.338 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.338 * [backup-simplify]: Simplify 0 into 0 17.338 * [backup-simplify]: Simplify 1 into 1 17.338 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.338 * [backup-simplify]: Simplify lambda1 into lambda1 17.338 * [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) 17.338 * [backup-simplify]: Simplify (* 0 lambda1) into 0 17.339 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 17.339 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 17.339 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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)))))))) in lambda1 17.339 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) in lambda1 17.339 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 17.339 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 17.339 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 17.339 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.339 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.339 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.339 * [backup-simplify]: Simplify -0.5 into -0.5 17.339 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.339 * [backup-simplify]: Simplify phi2 into phi2 17.339 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.340 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.340 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.340 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.340 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.340 * [backup-simplify]: Simplify (- 0) into 0 17.340 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.340 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 17.340 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.340 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.341 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.341 * [backup-simplify]: Simplify -0.5 into -0.5 17.341 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.341 * [backup-simplify]: Simplify phi1 into phi1 17.341 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.341 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.341 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.341 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.341 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.341 * [backup-simplify]: Simplify (- 0) into 0 17.341 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.341 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.341 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.342 * [backup-simplify]: Simplify lambda2 into lambda2 17.342 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.342 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.342 * [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)) 17.342 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.343 * [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)) 17.343 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) in lambda1 17.343 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 17.343 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 17.343 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 17.343 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.343 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.343 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.343 * [backup-simplify]: Simplify -0.5 into -0.5 17.343 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.343 * [backup-simplify]: Simplify phi2 into phi2 17.343 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.343 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.343 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.344 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.344 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.344 * [backup-simplify]: Simplify (- 0) into 0 17.344 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.344 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 17.344 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.344 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.344 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.344 * [backup-simplify]: Simplify -0.5 into -0.5 17.344 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.345 * [backup-simplify]: Simplify phi1 into phi1 17.345 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.345 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.345 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.345 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.345 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.345 * [backup-simplify]: Simplify (- 0) into 0 17.346 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.346 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.346 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.346 * [backup-simplify]: Simplify 0 into 0 17.346 * [backup-simplify]: Simplify 1 into 1 17.346 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.346 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.346 * [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)) 17.347 * [backup-simplify]: Simplify (* 1 1) into 1 17.347 * [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)) 17.347 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) in lambda1 17.347 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 17.347 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 17.347 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 17.347 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.347 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.347 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.347 * [backup-simplify]: Simplify -0.5 into -0.5 17.347 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.348 * [backup-simplify]: Simplify phi2 into phi2 17.348 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.348 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.348 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.348 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.348 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.348 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.348 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 17.348 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.348 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.348 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.348 * [backup-simplify]: Simplify -0.5 into -0.5 17.348 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.348 * [backup-simplify]: Simplify phi1 into phi1 17.348 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.348 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.349 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.349 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.349 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.349 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.349 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.349 * [backup-simplify]: Simplify lambda2 into lambda2 17.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.350 * [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)) 17.350 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.350 * [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)) 17.350 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 17.350 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 17.350 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 17.350 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.350 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.350 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.350 * [backup-simplify]: Simplify -0.5 into -0.5 17.350 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.351 * [backup-simplify]: Simplify phi2 into phi2 17.351 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.351 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.351 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.351 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.351 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.351 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.351 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 17.351 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.351 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.351 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.351 * [backup-simplify]: Simplify -0.5 into -0.5 17.351 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.351 * [backup-simplify]: Simplify phi1 into phi1 17.351 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.351 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.352 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.352 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.352 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.352 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.352 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.352 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.352 * [backup-simplify]: Simplify 0 into 0 17.352 * [backup-simplify]: Simplify 1 into 1 17.352 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.352 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.353 * [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)) 17.358 * [backup-simplify]: Simplify (* 1 1) into 1 17.358 * [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)) 17.358 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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))))))) in lambda1 17.358 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) in lambda1 17.358 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1 17.359 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.359 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.359 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.359 * [backup-simplify]: Simplify -0.5 into -0.5 17.359 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.359 * [backup-simplify]: Simplify phi1 into phi1 17.359 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.359 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.359 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.359 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1 17.359 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.359 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.359 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.359 * [backup-simplify]: Simplify -0.5 into -0.5 17.359 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.359 * [backup-simplify]: Simplify phi2 into phi2 17.359 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.359 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.359 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.359 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1 17.359 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.360 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.360 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.360 * [backup-simplify]: Simplify -0.5 into -0.5 17.360 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.360 * [backup-simplify]: Simplify phi1 into phi1 17.360 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.360 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.360 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.360 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.360 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.360 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.360 * [backup-simplify]: Simplify -0.5 into -0.5 17.360 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.360 * [backup-simplify]: Simplify phi2 into phi2 17.360 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.360 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.360 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.360 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.360 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.360 * [backup-simplify]: Simplify 0 into 0 17.360 * [backup-simplify]: Simplify 1 into 1 17.361 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.361 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.361 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.361 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.361 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.361 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.361 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.361 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.362 * [backup-simplify]: Simplify (- 0) into 0 17.362 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.362 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.362 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.363 * [backup-simplify]: Simplify (- 0) into 0 17.363 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.363 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.363 * [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)))) 17.364 * [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))))) 17.364 * [backup-simplify]: Simplify (* 1 1) into 1 17.364 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 17.364 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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)))))) in lambda1 17.364 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in lambda1 17.364 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1 17.365 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.365 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.365 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.365 * [backup-simplify]: Simplify -0.5 into -0.5 17.365 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.365 * [backup-simplify]: Simplify phi1 into phi1 17.365 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.365 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.365 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.365 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1 17.365 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.365 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.365 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.365 * [backup-simplify]: Simplify -0.5 into -0.5 17.365 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.365 * [backup-simplify]: Simplify phi2 into phi2 17.365 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.365 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.365 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.365 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1 17.365 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.366 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.366 * [backup-simplify]: Simplify -0.5 into -0.5 17.366 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.366 * [backup-simplify]: Simplify phi1 into phi1 17.366 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.366 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.366 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.366 * [backup-simplify]: Simplify -0.5 into -0.5 17.366 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.366 * [backup-simplify]: Simplify phi2 into phi2 17.366 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.366 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.366 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.366 * [backup-simplify]: Simplify 0 into 0 17.366 * [backup-simplify]: Simplify 1 into 1 17.367 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.367 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.367 * [backup-simplify]: Simplify (- 0) into 0 17.367 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.367 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.367 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.368 * [backup-simplify]: Simplify (- 0) into 0 17.368 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.368 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.368 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.368 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.369 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.369 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 17.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.370 * [backup-simplify]: Simplify (* 1 1) into 1 17.370 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 17.370 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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))))) in lambda1 17.370 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) in lambda1 17.370 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1 17.370 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.370 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.370 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.370 * [backup-simplify]: Simplify -0.5 into -0.5 17.371 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.371 * [backup-simplify]: Simplify phi1 into phi1 17.371 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.371 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.371 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.371 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1 17.371 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.371 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.371 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.371 * [backup-simplify]: Simplify -0.5 into -0.5 17.371 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.371 * [backup-simplify]: Simplify phi2 into phi2 17.371 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.371 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.371 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.371 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1 17.371 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.371 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.371 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.371 * [backup-simplify]: Simplify -0.5 into -0.5 17.371 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.371 * [backup-simplify]: Simplify phi1 into phi1 17.372 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.372 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.372 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.372 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.372 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.372 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.372 * [backup-simplify]: Simplify -0.5 into -0.5 17.372 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.372 * [backup-simplify]: Simplify phi2 into phi2 17.372 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.372 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.372 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.372 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.372 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.372 * [backup-simplify]: Simplify lambda2 into lambda2 17.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.372 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.372 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.372 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.372 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.372 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.373 * [backup-simplify]: Simplify (- 0) into 0 17.373 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.373 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.373 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.373 * [backup-simplify]: Simplify (- 0) into 0 17.373 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.373 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.373 * [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)))) 17.374 * [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))))) 17.374 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.374 * [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)) 17.374 * [taylor]: Taking taylor expansion of (+ (/ (* (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)))) in lambda1 17.374 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in lambda1 17.374 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1 17.374 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.374 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.374 * [backup-simplify]: Simplify -0.5 into -0.5 17.374 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.374 * [backup-simplify]: Simplify phi1 into phi1 17.374 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.374 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.374 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.374 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1 17.374 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.374 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.374 * [backup-simplify]: Simplify -0.5 into -0.5 17.374 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.374 * [backup-simplify]: Simplify phi2 into phi2 17.375 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.375 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.375 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1 17.375 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.375 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.375 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.375 * [backup-simplify]: Simplify -0.5 into -0.5 17.375 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.375 * [backup-simplify]: Simplify phi1 into phi1 17.375 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.375 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.375 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.375 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.375 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.375 * [backup-simplify]: Simplify -0.5 into -0.5 17.375 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.375 * [backup-simplify]: Simplify phi2 into phi2 17.375 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.375 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.375 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.375 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.375 * [backup-simplify]: Simplify lambda2 into lambda2 17.375 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.375 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.376 * [backup-simplify]: Simplify (- 0) into 0 17.376 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.376 * [backup-simplify]: Simplify (- 0) into 0 17.376 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.376 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.377 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.377 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 17.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.377 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.377 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 17.377 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 17.377 * [taylor]: Taking taylor expansion of 2 in lambda1 17.377 * [backup-simplify]: Simplify 2 into 2 17.377 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 17.377 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.377 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.377 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 17.377 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.377 * [backup-simplify]: Simplify -0.5 into -0.5 17.377 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.377 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.377 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.378 * [backup-simplify]: Simplify phi1 into phi1 17.378 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.378 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.378 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.378 * [backup-simplify]: Simplify phi2 into phi2 17.378 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.378 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.378 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.378 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.378 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.378 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.378 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.378 * [backup-simplify]: Simplify (- 0) into 0 17.379 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.379 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 17.379 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.379 * [backup-simplify]: Simplify lambda2 into lambda2 17.379 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.379 * [backup-simplify]: Simplify 0 into 0 17.379 * [backup-simplify]: Simplify 1 into 1 17.379 * [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) 17.379 * [backup-simplify]: Simplify (* lambda2 0) into 0 17.379 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 17.379 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 17.379 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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)))))))) in phi1 17.379 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) in phi1 17.380 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 17.380 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 17.380 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 17.380 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.380 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.380 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.380 * [backup-simplify]: Simplify -0.5 into -0.5 17.380 * [taylor]: Taking taylor expansion of phi2 in phi1 17.380 * [backup-simplify]: Simplify phi2 into phi2 17.380 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.380 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.380 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.380 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.380 * [backup-simplify]: Simplify (- 0) into 0 17.380 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.380 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 17.380 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.380 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.380 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.380 * [backup-simplify]: Simplify -0.5 into -0.5 17.380 * [taylor]: Taking taylor expansion of phi1 in phi1 17.380 * [backup-simplify]: Simplify 0 into 0 17.380 * [backup-simplify]: Simplify 1 into 1 17.381 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.381 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.381 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.381 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.381 * [backup-simplify]: Simplify lambda2 into lambda2 17.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.381 * [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)) 17.381 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.382 * [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)) 17.382 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) in phi1 17.382 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 17.382 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 17.382 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 17.382 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.382 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.382 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.382 * [backup-simplify]: Simplify -0.5 into -0.5 17.382 * [taylor]: Taking taylor expansion of phi2 in phi1 17.382 * [backup-simplify]: Simplify phi2 into phi2 17.382 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.382 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.382 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.382 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.382 * [backup-simplify]: Simplify (- 0) into 0 17.382 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.382 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 17.382 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.382 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.382 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.382 * [backup-simplify]: Simplify -0.5 into -0.5 17.382 * [taylor]: Taking taylor expansion of phi1 in phi1 17.382 * [backup-simplify]: Simplify 0 into 0 17.382 * [backup-simplify]: Simplify 1 into 1 17.383 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.383 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.383 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.383 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.383 * [backup-simplify]: Simplify lambda1 into lambda1 17.383 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.383 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.383 * [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)) 17.383 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.384 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 17.384 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) in phi1 17.384 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 17.384 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 17.384 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 17.384 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.384 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.384 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.384 * [backup-simplify]: Simplify -0.5 into -0.5 17.384 * [taylor]: Taking taylor expansion of phi2 in phi1 17.384 * [backup-simplify]: Simplify phi2 into phi2 17.384 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.384 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.384 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.384 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.384 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.384 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.384 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 17.384 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.384 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.384 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.384 * [backup-simplify]: Simplify -0.5 into -0.5 17.384 * [taylor]: Taking taylor expansion of phi1 in phi1 17.384 * [backup-simplify]: Simplify 0 into 0 17.384 * [backup-simplify]: Simplify 1 into 1 17.385 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.385 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.385 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.385 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.385 * [backup-simplify]: Simplify lambda2 into lambda2 17.385 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.385 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.385 * [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)) 17.385 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.385 * [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)) 17.385 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 17.385 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 17.385 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 17.385 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.386 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.386 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.386 * [backup-simplify]: Simplify -0.5 into -0.5 17.386 * [taylor]: Taking taylor expansion of phi2 in phi1 17.386 * [backup-simplify]: Simplify phi2 into phi2 17.386 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.386 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.386 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.386 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.386 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.386 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.386 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 17.386 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.386 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.386 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.386 * [backup-simplify]: Simplify -0.5 into -0.5 17.386 * [taylor]: Taking taylor expansion of phi1 in phi1 17.386 * [backup-simplify]: Simplify 0 into 0 17.386 * [backup-simplify]: Simplify 1 into 1 17.386 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.386 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.386 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.386 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.387 * [backup-simplify]: Simplify lambda1 into lambda1 17.387 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.387 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.387 * [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)) 17.387 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.387 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 17.387 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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))))))) in phi1 17.387 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) in phi1 17.387 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 17.387 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.387 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.387 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.387 * [backup-simplify]: Simplify -0.5 into -0.5 17.387 * [taylor]: Taking taylor expansion of phi1 in phi1 17.387 * [backup-simplify]: Simplify 0 into 0 17.387 * [backup-simplify]: Simplify 1 into 1 17.388 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.388 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.388 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 17.388 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.388 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.388 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.388 * [backup-simplify]: Simplify -0.5 into -0.5 17.388 * [taylor]: Taking taylor expansion of phi2 in phi1 17.388 * [backup-simplify]: Simplify phi2 into phi2 17.388 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.388 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.388 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.388 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 17.388 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.388 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.388 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.388 * [backup-simplify]: Simplify -0.5 into -0.5 17.388 * [taylor]: Taking taylor expansion of phi1 in phi1 17.388 * [backup-simplify]: Simplify 0 into 0 17.388 * [backup-simplify]: Simplify 1 into 1 17.388 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.389 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.389 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.389 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.389 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.389 * [backup-simplify]: Simplify -0.5 into -0.5 17.389 * [taylor]: Taking taylor expansion of phi2 in phi1 17.389 * [backup-simplify]: Simplify phi2 into phi2 17.389 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.389 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.389 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.389 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.389 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.389 * [backup-simplify]: Simplify lambda1 into lambda1 17.389 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.389 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.389 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.389 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.389 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.389 * [backup-simplify]: Simplify (- 0) into 0 17.389 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.390 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.390 * [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)))) 17.390 * [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))))) 17.390 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.390 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) 17.390 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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)))))) in phi1 17.390 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in phi1 17.390 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 17.390 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.390 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.390 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.390 * [backup-simplify]: Simplify -0.5 into -0.5 17.390 * [taylor]: Taking taylor expansion of phi1 in phi1 17.390 * [backup-simplify]: Simplify 0 into 0 17.390 * [backup-simplify]: Simplify 1 into 1 17.391 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.391 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.391 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 17.391 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.391 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.391 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.391 * [backup-simplify]: Simplify -0.5 into -0.5 17.391 * [taylor]: Taking taylor expansion of phi2 in phi1 17.391 * [backup-simplify]: Simplify phi2 into phi2 17.391 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.391 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.391 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.391 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 17.391 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.391 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.391 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.391 * [backup-simplify]: Simplify -0.5 into -0.5 17.391 * [taylor]: Taking taylor expansion of phi1 in phi1 17.391 * [backup-simplify]: Simplify 0 into 0 17.391 * [backup-simplify]: Simplify 1 into 1 17.392 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.392 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.392 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.392 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.392 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.392 * [backup-simplify]: Simplify -0.5 into -0.5 17.392 * [taylor]: Taking taylor expansion of phi2 in phi1 17.392 * [backup-simplify]: Simplify phi2 into phi2 17.392 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.392 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.392 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.392 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.392 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.392 * [backup-simplify]: Simplify lambda1 into lambda1 17.392 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.392 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.393 * [backup-simplify]: Simplify (- 0) into 0 17.393 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.393 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.393 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.393 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.393 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 17.393 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.393 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.393 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.394 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) 17.394 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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))))) in phi1 17.394 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) in phi1 17.394 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 17.394 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.394 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.394 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.394 * [backup-simplify]: Simplify -0.5 into -0.5 17.394 * [taylor]: Taking taylor expansion of phi1 in phi1 17.394 * [backup-simplify]: Simplify 0 into 0 17.394 * [backup-simplify]: Simplify 1 into 1 17.394 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.394 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.394 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 17.394 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.394 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.394 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.394 * [backup-simplify]: Simplify -0.5 into -0.5 17.394 * [taylor]: Taking taylor expansion of phi2 in phi1 17.394 * [backup-simplify]: Simplify phi2 into phi2 17.395 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.395 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.395 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.395 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 17.395 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.395 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.395 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.395 * [backup-simplify]: Simplify -0.5 into -0.5 17.395 * [taylor]: Taking taylor expansion of phi1 in phi1 17.395 * [backup-simplify]: Simplify 0 into 0 17.395 * [backup-simplify]: Simplify 1 into 1 17.395 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.395 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.395 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.395 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.395 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.395 * [backup-simplify]: Simplify -0.5 into -0.5 17.395 * [taylor]: Taking taylor expansion of phi2 in phi1 17.395 * [backup-simplify]: Simplify phi2 into phi2 17.395 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.395 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.395 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.395 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.395 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.395 * [backup-simplify]: Simplify lambda2 into lambda2 17.395 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.396 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.396 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.396 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.396 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.396 * [backup-simplify]: Simplify (- 0) into 0 17.396 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.396 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.396 * [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)))) 17.396 * [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))))) 17.397 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.397 * [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)) 17.397 * [taylor]: Taking taylor expansion of (+ (/ (* (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)))) in phi1 17.397 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in phi1 17.397 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 17.397 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.397 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.397 * [backup-simplify]: Simplify -0.5 into -0.5 17.397 * [taylor]: Taking taylor expansion of phi1 in phi1 17.397 * [backup-simplify]: Simplify 0 into 0 17.397 * [backup-simplify]: Simplify 1 into 1 17.397 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.397 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.397 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 17.397 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.397 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.397 * [backup-simplify]: Simplify -0.5 into -0.5 17.397 * [taylor]: Taking taylor expansion of phi2 in phi1 17.398 * [backup-simplify]: Simplify phi2 into phi2 17.398 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.398 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.398 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.398 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 17.398 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.398 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.398 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.398 * [backup-simplify]: Simplify -0.5 into -0.5 17.398 * [taylor]: Taking taylor expansion of phi1 in phi1 17.398 * [backup-simplify]: Simplify 0 into 0 17.398 * [backup-simplify]: Simplify 1 into 1 17.398 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.398 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.398 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.398 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.398 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.398 * [backup-simplify]: Simplify -0.5 into -0.5 17.398 * [taylor]: Taking taylor expansion of phi2 in phi1 17.398 * [backup-simplify]: Simplify phi2 into phi2 17.398 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.398 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.398 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.398 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.398 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.398 * [backup-simplify]: Simplify lambda2 into lambda2 17.399 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.399 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.399 * [backup-simplify]: Simplify (- 0) into 0 17.399 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.399 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.399 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.399 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.399 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 17.399 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.400 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.400 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.400 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 17.400 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 17.400 * [taylor]: Taking taylor expansion of 2 in phi1 17.400 * [backup-simplify]: Simplify 2 into 2 17.400 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 17.400 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 17.400 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 17.400 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 17.400 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.401 * [backup-simplify]: Simplify -0.5 into -0.5 17.401 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 17.401 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 17.401 * [taylor]: Taking taylor expansion of phi1 in phi1 17.401 * [backup-simplify]: Simplify 0 into 0 17.401 * [backup-simplify]: Simplify 1 into 1 17.401 * [backup-simplify]: Simplify (/ 1 1) into 1 17.401 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 17.401 * [taylor]: Taking taylor expansion of phi2 in phi1 17.401 * [backup-simplify]: Simplify phi2 into phi2 17.401 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.402 * [backup-simplify]: Simplify (+ 1 0) into 1 17.402 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.402 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.402 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 17.402 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.402 * [backup-simplify]: Simplify lambda2 into lambda2 17.402 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.403 * [backup-simplify]: Simplify lambda1 into lambda1 17.403 * [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) 17.403 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.403 * [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)) 17.403 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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)))))))) in phi2 17.403 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) in phi2 17.404 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 17.404 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 17.404 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 17.404 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.404 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.404 * [backup-simplify]: Simplify -0.5 into -0.5 17.404 * [taylor]: Taking taylor expansion of phi2 in phi2 17.404 * [backup-simplify]: Simplify 0 into 0 17.404 * [backup-simplify]: Simplify 1 into 1 17.404 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.404 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 17.405 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.405 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.405 * [backup-simplify]: Simplify -0.5 into -0.5 17.405 * [taylor]: Taking taylor expansion of phi1 in phi2 17.405 * [backup-simplify]: Simplify phi1 into phi1 17.405 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.405 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.405 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.406 * [backup-simplify]: Simplify (- 0) into 0 17.406 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.406 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.406 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.406 * [backup-simplify]: Simplify lambda2 into lambda2 17.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.407 * [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)) 17.407 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.407 * [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)) 17.407 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) in phi2 17.407 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 17.407 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 17.407 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 17.407 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.407 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.407 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.407 * [backup-simplify]: Simplify -0.5 into -0.5 17.407 * [taylor]: Taking taylor expansion of phi2 in phi2 17.407 * [backup-simplify]: Simplify 0 into 0 17.407 * [backup-simplify]: Simplify 1 into 1 17.408 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.408 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.408 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 17.408 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.408 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.408 * [backup-simplify]: Simplify -0.5 into -0.5 17.408 * [taylor]: Taking taylor expansion of phi1 in phi2 17.408 * [backup-simplify]: Simplify phi1 into phi1 17.408 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.408 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.409 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.409 * [backup-simplify]: Simplify (- 0) into 0 17.409 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.409 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.409 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.409 * [backup-simplify]: Simplify lambda1 into lambda1 17.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.410 * [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)) 17.410 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.411 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 17.411 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) in phi2 17.411 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 17.411 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 17.411 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 17.411 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.411 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.411 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.411 * [backup-simplify]: Simplify -0.5 into -0.5 17.411 * [taylor]: Taking taylor expansion of phi2 in phi2 17.411 * [backup-simplify]: Simplify 0 into 0 17.411 * [backup-simplify]: Simplify 1 into 1 17.412 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.412 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.412 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 17.412 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.412 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.412 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.412 * [backup-simplify]: Simplify -0.5 into -0.5 17.412 * [taylor]: Taking taylor expansion of phi1 in phi2 17.412 * [backup-simplify]: Simplify phi1 into phi1 17.412 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.412 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.412 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.412 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.413 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.413 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.413 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.413 * [backup-simplify]: Simplify lambda2 into lambda2 17.413 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.413 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.413 * [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)) 17.413 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.414 * [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)) 17.414 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 17.414 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 17.414 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 17.414 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.414 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.414 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.414 * [backup-simplify]: Simplify -0.5 into -0.5 17.414 * [taylor]: Taking taylor expansion of phi2 in phi2 17.414 * [backup-simplify]: Simplify 0 into 0 17.414 * [backup-simplify]: Simplify 1 into 1 17.415 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.415 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.415 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 17.415 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.415 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.415 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.415 * [backup-simplify]: Simplify -0.5 into -0.5 17.415 * [taylor]: Taking taylor expansion of phi1 in phi2 17.415 * [backup-simplify]: Simplify phi1 into phi1 17.415 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.415 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.415 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.416 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.416 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.416 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.416 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.416 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.416 * [backup-simplify]: Simplify lambda1 into lambda1 17.416 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.416 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.417 * [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)) 17.417 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.417 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 17.417 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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))))))) in phi2 17.417 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) in phi2 17.417 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi2 17.417 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.417 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.417 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.418 * [backup-simplify]: Simplify -0.5 into -0.5 17.418 * [taylor]: Taking taylor expansion of phi1 in phi2 17.418 * [backup-simplify]: Simplify phi1 into phi1 17.418 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.418 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.418 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.418 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi2 17.418 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.418 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.418 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.418 * [backup-simplify]: Simplify -0.5 into -0.5 17.418 * [taylor]: Taking taylor expansion of phi2 in phi2 17.418 * [backup-simplify]: Simplify 0 into 0 17.418 * [backup-simplify]: Simplify 1 into 1 17.419 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.419 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.419 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi2 17.419 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.419 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.419 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.419 * [backup-simplify]: Simplify -0.5 into -0.5 17.419 * [taylor]: Taking taylor expansion of phi1 in phi2 17.419 * [backup-simplify]: Simplify phi1 into phi1 17.419 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.419 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.419 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.420 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.420 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.420 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.420 * [backup-simplify]: Simplify -0.5 into -0.5 17.420 * [taylor]: Taking taylor expansion of phi2 in phi2 17.420 * [backup-simplify]: Simplify 0 into 0 17.420 * [backup-simplify]: Simplify 1 into 1 17.420 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.420 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.420 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.420 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.420 * [backup-simplify]: Simplify lambda1 into lambda1 17.420 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.421 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.421 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.421 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.421 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.421 * [backup-simplify]: Simplify (- 0) into 0 17.421 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.422 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.422 * [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)))) 17.422 * [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))))) 17.422 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.423 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) 17.423 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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)))))) in phi2 17.423 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in phi2 17.423 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi2 17.423 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.423 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.423 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.423 * [backup-simplify]: Simplify -0.5 into -0.5 17.423 * [taylor]: Taking taylor expansion of phi1 in phi2 17.423 * [backup-simplify]: Simplify phi1 into phi1 17.423 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.423 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.424 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.424 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi2 17.424 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.424 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.424 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.424 * [backup-simplify]: Simplify -0.5 into -0.5 17.424 * [taylor]: Taking taylor expansion of phi2 in phi2 17.424 * [backup-simplify]: Simplify 0 into 0 17.424 * [backup-simplify]: Simplify 1 into 1 17.424 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.424 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.424 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi2 17.424 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.425 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.425 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.425 * [backup-simplify]: Simplify -0.5 into -0.5 17.425 * [taylor]: Taking taylor expansion of phi1 in phi2 17.425 * [backup-simplify]: Simplify phi1 into phi1 17.425 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.425 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.425 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.425 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.425 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.425 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.425 * [backup-simplify]: Simplify -0.5 into -0.5 17.425 * [taylor]: Taking taylor expansion of phi2 in phi2 17.425 * [backup-simplify]: Simplify 0 into 0 17.425 * [backup-simplify]: Simplify 1 into 1 17.426 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.426 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.426 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.426 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.426 * [backup-simplify]: Simplify lambda1 into lambda1 17.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.426 * [backup-simplify]: Simplify (- 0) into 0 17.427 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.427 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.427 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.427 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.427 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 17.427 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.428 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.428 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.428 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) 17.428 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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))))) in phi2 17.428 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) in phi2 17.428 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi2 17.428 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.428 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.428 * [backup-simplify]: Simplify -0.5 into -0.5 17.428 * [taylor]: Taking taylor expansion of phi1 in phi2 17.428 * [backup-simplify]: Simplify phi1 into phi1 17.428 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.428 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.428 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.428 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi2 17.428 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.428 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.428 * [backup-simplify]: Simplify -0.5 into -0.5 17.428 * [taylor]: Taking taylor expansion of phi2 in phi2 17.428 * [backup-simplify]: Simplify 0 into 0 17.428 * [backup-simplify]: Simplify 1 into 1 17.429 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.429 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.429 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi2 17.429 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.429 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.429 * [backup-simplify]: Simplify -0.5 into -0.5 17.429 * [taylor]: Taking taylor expansion of phi1 in phi2 17.429 * [backup-simplify]: Simplify phi1 into phi1 17.429 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.429 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.429 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.429 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.429 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.429 * [backup-simplify]: Simplify -0.5 into -0.5 17.429 * [taylor]: Taking taylor expansion of phi2 in phi2 17.429 * [backup-simplify]: Simplify 0 into 0 17.429 * [backup-simplify]: Simplify 1 into 1 17.429 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.430 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.430 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.430 * [backup-simplify]: Simplify lambda2 into lambda2 17.430 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.430 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.430 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.430 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.430 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.430 * [backup-simplify]: Simplify (- 0) into 0 17.430 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.430 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.430 * [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)))) 17.431 * [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))))) 17.431 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.431 * [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)) 17.431 * [taylor]: Taking taylor expansion of (+ (/ (* (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)))) in phi2 17.431 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in phi2 17.431 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi2 17.431 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.431 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.431 * [backup-simplify]: Simplify -0.5 into -0.5 17.431 * [taylor]: Taking taylor expansion of phi1 in phi2 17.431 * [backup-simplify]: Simplify phi1 into phi1 17.431 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.431 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi2 17.431 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.431 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.431 * [backup-simplify]: Simplify -0.5 into -0.5 17.431 * [taylor]: Taking taylor expansion of phi2 in phi2 17.431 * [backup-simplify]: Simplify 0 into 0 17.431 * [backup-simplify]: Simplify 1 into 1 17.432 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.432 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi2 17.432 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.432 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.432 * [backup-simplify]: Simplify -0.5 into -0.5 17.432 * [taylor]: Taking taylor expansion of phi1 in phi2 17.432 * [backup-simplify]: Simplify phi1 into phi1 17.432 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.432 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.432 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.432 * [backup-simplify]: Simplify -0.5 into -0.5 17.432 * [taylor]: Taking taylor expansion of phi2 in phi2 17.432 * [backup-simplify]: Simplify 0 into 0 17.432 * [backup-simplify]: Simplify 1 into 1 17.432 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.433 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.433 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.433 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.433 * [backup-simplify]: Simplify lambda2 into lambda2 17.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.433 * [backup-simplify]: Simplify (- 0) into 0 17.433 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.433 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 17.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.434 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.434 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 17.434 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 17.434 * [taylor]: Taking taylor expansion of 2 in phi2 17.434 * [backup-simplify]: Simplify 2 into 2 17.434 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 17.434 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 17.434 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 17.434 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 17.434 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.434 * [backup-simplify]: Simplify -0.5 into -0.5 17.434 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 17.434 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 17.434 * [taylor]: Taking taylor expansion of phi1 in phi2 17.434 * [backup-simplify]: Simplify phi1 into phi1 17.434 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.434 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 17.434 * [taylor]: Taking taylor expansion of phi2 in phi2 17.434 * [backup-simplify]: Simplify 0 into 0 17.434 * [backup-simplify]: Simplify 1 into 1 17.435 * [backup-simplify]: Simplify (/ 1 1) into 1 17.435 * [backup-simplify]: Simplify (+ 0 1) into 1 17.435 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.435 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.435 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 17.435 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.435 * [backup-simplify]: Simplify lambda2 into lambda2 17.435 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.435 * [backup-simplify]: Simplify lambda1 into lambda1 17.436 * [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) 17.436 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.436 * [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)) 17.436 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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)))))))) in phi2 17.436 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) in phi2 17.436 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 17.436 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 17.436 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 17.436 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.436 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.436 * [backup-simplify]: Simplify -0.5 into -0.5 17.436 * [taylor]: Taking taylor expansion of phi2 in phi2 17.436 * [backup-simplify]: Simplify 0 into 0 17.436 * [backup-simplify]: Simplify 1 into 1 17.436 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.436 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.436 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 17.436 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.436 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.437 * [backup-simplify]: Simplify -0.5 into -0.5 17.437 * [taylor]: Taking taylor expansion of phi1 in phi2 17.437 * [backup-simplify]: Simplify phi1 into phi1 17.437 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.437 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.437 * [backup-simplify]: Simplify (- 0) into 0 17.437 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.437 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.437 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.437 * [backup-simplify]: Simplify lambda2 into lambda2 17.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.438 * [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)) 17.438 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.438 * [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)) 17.438 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) in phi2 17.438 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 17.438 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 17.438 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 17.438 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.438 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.438 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.438 * [backup-simplify]: Simplify -0.5 into -0.5 17.438 * [taylor]: Taking taylor expansion of phi2 in phi2 17.438 * [backup-simplify]: Simplify 0 into 0 17.438 * [backup-simplify]: Simplify 1 into 1 17.438 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.438 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.438 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 17.438 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.439 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.439 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.439 * [backup-simplify]: Simplify -0.5 into -0.5 17.439 * [taylor]: Taking taylor expansion of phi1 in phi2 17.439 * [backup-simplify]: Simplify phi1 into phi1 17.439 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.439 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.439 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.439 * [backup-simplify]: Simplify (- 0) into 0 17.439 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.439 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.439 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.439 * [backup-simplify]: Simplify lambda1 into lambda1 17.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.440 * [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)) 17.440 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.440 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 17.440 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) in phi2 17.440 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 17.440 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 17.440 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 17.440 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.440 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.440 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.440 * [backup-simplify]: Simplify -0.5 into -0.5 17.440 * [taylor]: Taking taylor expansion of phi2 in phi2 17.440 * [backup-simplify]: Simplify 0 into 0 17.440 * [backup-simplify]: Simplify 1 into 1 17.440 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.440 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.441 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 17.441 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.441 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.441 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.441 * [backup-simplify]: Simplify -0.5 into -0.5 17.441 * [taylor]: Taking taylor expansion of phi1 in phi2 17.441 * [backup-simplify]: Simplify phi1 into phi1 17.441 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.441 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.441 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.441 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.441 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.441 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.441 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.441 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.441 * [backup-simplify]: Simplify lambda2 into lambda2 17.441 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.441 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.441 * [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)) 17.441 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.442 * [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)) 17.442 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 17.442 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 17.442 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 17.442 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.442 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.442 * [backup-simplify]: Simplify -0.5 into -0.5 17.442 * [taylor]: Taking taylor expansion of phi2 in phi2 17.442 * [backup-simplify]: Simplify 0 into 0 17.442 * [backup-simplify]: Simplify 1 into 1 17.442 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.442 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 17.442 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.442 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.442 * [backup-simplify]: Simplify -0.5 into -0.5 17.442 * [taylor]: Taking taylor expansion of phi1 in phi2 17.442 * [backup-simplify]: Simplify phi1 into phi1 17.442 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.443 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.443 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.443 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.443 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.443 * [backup-simplify]: Simplify lambda1 into lambda1 17.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.443 * [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)) 17.443 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.444 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 17.444 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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))))))) in phi2 17.444 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) in phi2 17.444 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi2 17.444 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.444 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.444 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.444 * [backup-simplify]: Simplify -0.5 into -0.5 17.444 * [taylor]: Taking taylor expansion of phi1 in phi2 17.444 * [backup-simplify]: Simplify phi1 into phi1 17.444 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.444 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.444 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.444 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi2 17.444 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.444 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.444 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.444 * [backup-simplify]: Simplify -0.5 into -0.5 17.444 * [taylor]: Taking taylor expansion of phi2 in phi2 17.444 * [backup-simplify]: Simplify 0 into 0 17.444 * [backup-simplify]: Simplify 1 into 1 17.444 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.445 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.445 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi2 17.445 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.445 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.445 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.445 * [backup-simplify]: Simplify -0.5 into -0.5 17.445 * [taylor]: Taking taylor expansion of phi1 in phi2 17.445 * [backup-simplify]: Simplify phi1 into phi1 17.445 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.445 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.445 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.445 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.445 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.445 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.445 * [backup-simplify]: Simplify -0.5 into -0.5 17.445 * [taylor]: Taking taylor expansion of phi2 in phi2 17.445 * [backup-simplify]: Simplify 0 into 0 17.445 * [backup-simplify]: Simplify 1 into 1 17.445 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.445 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.445 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.445 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.445 * [backup-simplify]: Simplify lambda1 into lambda1 17.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.446 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.446 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.446 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.446 * [backup-simplify]: Simplify (- 0) into 0 17.446 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.446 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.446 * [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)))) 17.446 * [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))))) 17.446 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.447 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) 17.447 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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)))))) in phi2 17.447 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in phi2 17.447 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi2 17.447 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.447 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.447 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.447 * [backup-simplify]: Simplify -0.5 into -0.5 17.447 * [taylor]: Taking taylor expansion of phi1 in phi2 17.447 * [backup-simplify]: Simplify phi1 into phi1 17.447 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.447 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.447 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.447 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi2 17.447 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.447 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.447 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.447 * [backup-simplify]: Simplify -0.5 into -0.5 17.447 * [taylor]: Taking taylor expansion of phi2 in phi2 17.447 * [backup-simplify]: Simplify 0 into 0 17.447 * [backup-simplify]: Simplify 1 into 1 17.448 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.448 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.448 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi2 17.448 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.448 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.448 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.448 * [backup-simplify]: Simplify -0.5 into -0.5 17.448 * [taylor]: Taking taylor expansion of phi1 in phi2 17.448 * [backup-simplify]: Simplify phi1 into phi1 17.448 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.448 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.448 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.448 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.448 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.448 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.448 * [backup-simplify]: Simplify -0.5 into -0.5 17.448 * [taylor]: Taking taylor expansion of phi2 in phi2 17.448 * [backup-simplify]: Simplify 0 into 0 17.448 * [backup-simplify]: Simplify 1 into 1 17.448 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.448 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.448 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.448 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.448 * [backup-simplify]: Simplify lambda1 into lambda1 17.448 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.449 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.449 * [backup-simplify]: Simplify (- 0) into 0 17.449 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.449 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.449 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.449 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.449 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 17.449 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.449 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.449 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.450 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) 17.450 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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))))) in phi2 17.450 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) in phi2 17.450 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi2 17.450 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.450 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.450 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.450 * [backup-simplify]: Simplify -0.5 into -0.5 17.450 * [taylor]: Taking taylor expansion of phi1 in phi2 17.450 * [backup-simplify]: Simplify phi1 into phi1 17.450 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.450 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.450 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.450 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi2 17.450 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.450 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.450 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.450 * [backup-simplify]: Simplify -0.5 into -0.5 17.450 * [taylor]: Taking taylor expansion of phi2 in phi2 17.450 * [backup-simplify]: Simplify 0 into 0 17.450 * [backup-simplify]: Simplify 1 into 1 17.451 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.451 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.451 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi2 17.451 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.451 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.451 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.451 * [backup-simplify]: Simplify -0.5 into -0.5 17.451 * [taylor]: Taking taylor expansion of phi1 in phi2 17.451 * [backup-simplify]: Simplify phi1 into phi1 17.451 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.451 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.451 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.451 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.451 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.451 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.451 * [backup-simplify]: Simplify -0.5 into -0.5 17.451 * [taylor]: Taking taylor expansion of phi2 in phi2 17.451 * [backup-simplify]: Simplify 0 into 0 17.451 * [backup-simplify]: Simplify 1 into 1 17.451 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.451 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.451 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.451 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.451 * [backup-simplify]: Simplify lambda2 into lambda2 17.451 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.452 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.452 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.452 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.452 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.452 * [backup-simplify]: Simplify (- 0) into 0 17.452 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.452 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.452 * [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)))) 17.452 * [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))))) 17.453 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.453 * [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)) 17.453 * [taylor]: Taking taylor expansion of (+ (/ (* (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)))) in phi2 17.453 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in phi2 17.453 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi2 17.453 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.453 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.453 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.453 * [backup-simplify]: Simplify -0.5 into -0.5 17.453 * [taylor]: Taking taylor expansion of phi1 in phi2 17.453 * [backup-simplify]: Simplify phi1 into phi1 17.453 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.453 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.453 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.453 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi2 17.453 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.453 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.453 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.453 * [backup-simplify]: Simplify -0.5 into -0.5 17.453 * [taylor]: Taking taylor expansion of phi2 in phi2 17.453 * [backup-simplify]: Simplify 0 into 0 17.453 * [backup-simplify]: Simplify 1 into 1 17.454 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.454 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.454 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi2 17.454 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.454 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.454 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.454 * [backup-simplify]: Simplify -0.5 into -0.5 17.454 * [taylor]: Taking taylor expansion of phi1 in phi2 17.454 * [backup-simplify]: Simplify phi1 into phi1 17.454 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.454 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.454 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.454 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.454 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.454 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.454 * [backup-simplify]: Simplify -0.5 into -0.5 17.454 * [taylor]: Taking taylor expansion of phi2 in phi2 17.454 * [backup-simplify]: Simplify 0 into 0 17.454 * [backup-simplify]: Simplify 1 into 1 17.454 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.454 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.454 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.454 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.454 * [backup-simplify]: Simplify lambda2 into lambda2 17.455 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.455 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.455 * [backup-simplify]: Simplify (- 0) into 0 17.455 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.455 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.455 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.455 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.455 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 17.455 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.456 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.456 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.456 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 17.456 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 17.456 * [taylor]: Taking taylor expansion of 2 in phi2 17.456 * [backup-simplify]: Simplify 2 into 2 17.456 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 17.456 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 17.456 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 17.456 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 17.456 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.456 * [backup-simplify]: Simplify -0.5 into -0.5 17.456 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 17.456 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 17.456 * [taylor]: Taking taylor expansion of phi1 in phi2 17.456 * [backup-simplify]: Simplify phi1 into phi1 17.456 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.456 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 17.456 * [taylor]: Taking taylor expansion of phi2 in phi2 17.456 * [backup-simplify]: Simplify 0 into 0 17.456 * [backup-simplify]: Simplify 1 into 1 17.457 * [backup-simplify]: Simplify (/ 1 1) into 1 17.457 * [backup-simplify]: Simplify (+ 0 1) into 1 17.457 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.457 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.457 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 17.457 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.457 * [backup-simplify]: Simplify lambda2 into lambda2 17.457 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.457 * [backup-simplify]: Simplify lambda1 into lambda1 17.457 * [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) 17.457 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.458 * [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)) 17.458 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) 17.459 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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 lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 17.461 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) 17.461 * [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))) 17.461 * [backup-simplify]: Simplify (+ (/ (* (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)))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 17.462 * [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 phi1)) (* (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 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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))))) 17.464 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 17.468 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) into (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)))))) 17.472 * [backup-simplify]: Simplify (- (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2))))))) into (- (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (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))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2))))))) 17.479 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (- (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (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))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)))))))) 17.479 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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 phi1 17.479 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi1 17.479 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 17.479 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 17.479 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 17.479 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.479 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.479 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.479 * [backup-simplify]: Simplify -0.5 into -0.5 17.480 * [taylor]: Taking taylor expansion of phi2 in phi1 17.480 * [backup-simplify]: Simplify phi2 into phi2 17.480 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.480 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.480 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.480 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.480 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 17.480 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.480 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.480 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.480 * [backup-simplify]: Simplify -0.5 into -0.5 17.480 * [taylor]: Taking taylor expansion of phi1 in phi1 17.480 * [backup-simplify]: Simplify 0 into 0 17.480 * [backup-simplify]: Simplify 1 into 1 17.481 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.481 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.481 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.481 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.481 * [backup-simplify]: Simplify lambda1 into lambda1 17.481 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.482 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.482 * [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)) 17.482 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.483 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 17.483 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 17.483 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 17.483 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 17.483 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 17.483 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.483 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.483 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.483 * [backup-simplify]: Simplify -0.5 into -0.5 17.483 * [taylor]: Taking taylor expansion of phi2 in phi1 17.483 * [backup-simplify]: Simplify phi2 into phi2 17.483 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.483 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.483 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.484 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.484 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.484 * [backup-simplify]: Simplify (- 0) into 0 17.484 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.484 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 17.484 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.484 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.484 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.484 * [backup-simplify]: Simplify -0.5 into -0.5 17.484 * [taylor]: Taking taylor expansion of phi1 in phi1 17.484 * [backup-simplify]: Simplify 0 into 0 17.484 * [backup-simplify]: Simplify 1 into 1 17.485 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.485 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.485 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.485 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.485 * [backup-simplify]: Simplify lambda2 into lambda2 17.485 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.485 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.486 * [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)) 17.486 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.486 * [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)) 17.486 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 17.486 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 17.486 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 17.486 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 17.487 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.487 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.487 * [backup-simplify]: Simplify -0.5 into -0.5 17.487 * [taylor]: Taking taylor expansion of phi2 in phi1 17.487 * [backup-simplify]: Simplify phi2 into phi2 17.487 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.487 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.487 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.487 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.487 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.488 * [backup-simplify]: Simplify (- 0) into 0 17.488 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.488 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 17.488 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.488 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.488 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.488 * [backup-simplify]: Simplify -0.5 into -0.5 17.488 * [taylor]: Taking taylor expansion of phi1 in phi1 17.488 * [backup-simplify]: Simplify 0 into 0 17.488 * [backup-simplify]: Simplify 1 into 1 17.488 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.489 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.489 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.489 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.489 * [backup-simplify]: Simplify lambda1 into lambda1 17.489 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.489 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.489 * [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)) 17.489 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.490 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 17.490 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 17.490 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 17.490 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 17.490 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.490 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.490 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.490 * [backup-simplify]: Simplify -0.5 into -0.5 17.490 * [taylor]: Taking taylor expansion of phi2 in phi1 17.490 * [backup-simplify]: Simplify phi2 into phi2 17.490 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.490 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.490 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.491 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.491 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.491 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.491 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 17.491 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.491 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) 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 phi1 in phi1 17.491 * [backup-simplify]: Simplify 0 into 0 17.491 * [backup-simplify]: Simplify 1 into 1 17.491 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.492 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.492 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.492 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.492 * [backup-simplify]: Simplify lambda2 into lambda2 17.492 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.492 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.492 * [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)) 17.492 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.493 * [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)) 17.493 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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 phi1 17.493 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) in phi1 17.493 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 17.493 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.493 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.493 * [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 (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.494 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.494 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 17.494 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.494 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) 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 phi1 in phi1 17.494 * [backup-simplify]: Simplify 0 into 0 17.494 * [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 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 17.495 * [taylor]: Taking taylor expansion of (cos (/ -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 17.496 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.496 * [taylor]: Taking taylor expansion of (cos (/ -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 (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.496 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.496 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.496 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.496 * [backup-simplify]: Simplify lambda1 into lambda1 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)) 17.497 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.497 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.497 * [backup-simplify]: Simplify (- 0) into 0 17.497 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.497 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.498 * [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)))) 17.498 * [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))))) 17.498 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.499 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) 17.499 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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 phi1 17.499 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) in phi1 17.499 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -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 17.500 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.500 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in phi1 17.500 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.500 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) 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 phi1 in phi1 17.500 * [backup-simplify]: Simplify 0 into 0 17.500 * [backup-simplify]: Simplify 1 into 1 17.500 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.500 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -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 17.501 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.501 * [backup-simplify]: Simplify -0.5 into -0.5 17.501 * [taylor]: Taking taylor expansion of phi2 in phi1 17.501 * [backup-simplify]: Simplify phi2 into phi2 17.501 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.501 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.501 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.501 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.501 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.501 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.501 * [backup-simplify]: Simplify -0.5 into -0.5 17.501 * [taylor]: Taking taylor expansion of phi2 in phi1 17.501 * [backup-simplify]: Simplify phi2 into phi2 17.501 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.501 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.501 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.501 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.501 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.501 * [backup-simplify]: Simplify lambda1 into lambda1 17.502 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.502 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.502 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.502 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.502 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.502 * [backup-simplify]: Simplify (- 0) into 0 17.502 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.503 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 17.503 * [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)))) 17.503 * [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))))) 17.503 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.504 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) 17.504 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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 phi1 17.504 * [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 17.504 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 17.504 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.504 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.504 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.504 * [backup-simplify]: Simplify -0.5 into -0.5 17.504 * [taylor]: Taking taylor expansion of phi2 in phi1 17.504 * [backup-simplify]: Simplify phi2 into phi2 17.504 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.504 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.505 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.505 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 17.505 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.505 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.505 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.505 * [backup-simplify]: Simplify -0.5 into -0.5 17.505 * [taylor]: Taking taylor expansion of phi1 in phi1 17.505 * [backup-simplify]: Simplify 0 into 0 17.505 * [backup-simplify]: Simplify 1 into 1 17.505 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.505 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.505 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 17.505 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.505 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.506 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.506 * [backup-simplify]: Simplify -0.5 into -0.5 17.506 * [taylor]: Taking taylor expansion of phi2 in phi1 17.506 * [backup-simplify]: Simplify phi2 into phi2 17.506 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.506 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.506 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.506 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.506 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.506 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.506 * [backup-simplify]: Simplify -0.5 into -0.5 17.506 * [taylor]: Taking taylor expansion of phi1 in phi1 17.506 * [backup-simplify]: Simplify 0 into 0 17.506 * [backup-simplify]: Simplify 1 into 1 17.507 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.507 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.507 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.507 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.507 * [backup-simplify]: Simplify lambda2 into lambda2 17.507 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.507 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.507 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.507 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.507 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.508 * [backup-simplify]: Simplify (- 0) into 0 17.508 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.508 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 17.508 * [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)))) 17.509 * [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))))) 17.509 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.509 * [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)) 17.509 * [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 phi1 17.509 * [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 phi1 17.509 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 17.509 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.509 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.509 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.509 * [backup-simplify]: Simplify -0.5 into -0.5 17.510 * [taylor]: Taking taylor expansion of phi2 in phi1 17.510 * [backup-simplify]: Simplify phi2 into phi2 17.510 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.510 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.510 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.510 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 17.510 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.510 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.510 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.510 * [backup-simplify]: Simplify -0.5 into -0.5 17.510 * [taylor]: Taking taylor expansion of phi1 in phi1 17.510 * [backup-simplify]: Simplify 0 into 0 17.510 * [backup-simplify]: Simplify 1 into 1 17.511 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.511 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.511 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 17.511 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.511 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.511 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.511 * [backup-simplify]: Simplify -0.5 into -0.5 17.511 * [taylor]: Taking taylor expansion of phi2 in phi1 17.511 * [backup-simplify]: Simplify phi2 into phi2 17.511 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.511 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.511 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.511 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.511 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.511 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.511 * [backup-simplify]: Simplify -0.5 into -0.5 17.511 * [taylor]: Taking taylor expansion of phi1 in phi1 17.511 * [backup-simplify]: Simplify 0 into 0 17.511 * [backup-simplify]: Simplify 1 into 1 17.512 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.512 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.512 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.512 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.512 * [backup-simplify]: Simplify lambda2 into lambda2 17.512 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.512 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.513 * [backup-simplify]: Simplify (- 0) into 0 17.513 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.513 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.513 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 17.514 * [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)))) 17.514 * [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))))) 17.514 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.514 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 17.515 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 17.515 * [taylor]: Taking taylor expansion of 2 in phi1 17.515 * [backup-simplify]: Simplify 2 into 2 17.515 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 17.515 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 17.515 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 17.515 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 17.515 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.515 * [backup-simplify]: Simplify -0.5 into -0.5 17.515 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 17.515 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 17.515 * [taylor]: Taking taylor expansion of phi1 in phi1 17.515 * [backup-simplify]: Simplify 0 into 0 17.515 * [backup-simplify]: Simplify 1 into 1 17.515 * [backup-simplify]: Simplify (/ 1 1) into 1 17.515 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 17.515 * [taylor]: Taking taylor expansion of phi2 in phi1 17.515 * [backup-simplify]: Simplify phi2 into phi2 17.516 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.516 * [backup-simplify]: Simplify (+ 1 0) into 1 17.516 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.517 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.517 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 17.517 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.517 * [backup-simplify]: Simplify lambda2 into lambda2 17.517 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.517 * [backup-simplify]: Simplify lambda1 into lambda1 17.517 * [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) 17.517 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.518 * [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 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) 17.521 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 17.523 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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))) 17.525 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -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 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)))) 17.527 * [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 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 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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))))) 17.529 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (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 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) 17.538 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) 17.542 * [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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 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 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))))) 17.550 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))))) 17.551 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))))) in lambda1 17.551 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1 17.551 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 17.551 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 17.551 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 17.551 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.551 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.551 * [backup-simplify]: Simplify -0.5 into -0.5 17.551 * [taylor]: Taking taylor expansion of phi2 in lambda1 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 (sin (/ -0.5 phi2)) into (sin (/ -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)) 1) into (sin (/ -0.5 phi2)) 17.552 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.552 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.552 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 17.552 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.552 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.552 * [backup-simplify]: Simplify -0.5 into -0.5 17.552 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.552 * [backup-simplify]: Simplify phi1 into phi1 17.552 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.552 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.552 * [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 lambda1 2) in lambda1 17.553 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.553 * [backup-simplify]: Simplify 0 into 0 17.553 * [backup-simplify]: Simplify 1 into 1 17.553 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.553 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.553 * [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)) 17.554 * [backup-simplify]: Simplify (* 1 1) into 1 17.554 * [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)) 17.555 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 17.555 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 17.555 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 17.555 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 17.555 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.555 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.555 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.555 * [backup-simplify]: Simplify -0.5 into -0.5 17.555 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.555 * [backup-simplify]: Simplify phi2 into phi2 17.555 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.555 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.555 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.556 * [backup-simplify]: Simplify (- 0) into 0 17.556 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.556 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 17.556 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.556 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.556 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.556 * [backup-simplify]: Simplify -0.5 into -0.5 17.556 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.556 * [backup-simplify]: Simplify phi1 into phi1 17.556 * [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 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.557 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.557 * [backup-simplify]: Simplify (- 0) into 0 17.557 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.557 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.557 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.557 * [backup-simplify]: Simplify lambda2 into lambda2 17.558 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.558 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.558 * [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)) 17.558 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.559 * [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)) 17.559 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 17.559 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 17.559 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 17.559 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 17.559 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.559 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.559 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.559 * [backup-simplify]: Simplify -0.5 into -0.5 17.559 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.559 * [backup-simplify]: Simplify phi2 into phi2 17.559 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.559 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.559 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) 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 17.560 * [backup-simplify]: Simplify (- 0) into 0 17.560 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.560 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 17.560 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.560 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.560 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.560 * [backup-simplify]: Simplify -0.5 into -0.5 17.560 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.560 * [backup-simplify]: Simplify phi1 into phi1 17.560 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.560 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.561 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.561 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.561 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.561 * [backup-simplify]: Simplify (- 0) into 0 17.561 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.561 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.561 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.561 * [backup-simplify]: Simplify 0 into 0 17.561 * [backup-simplify]: Simplify 1 into 1 17.562 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.562 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.562 * [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)) 17.562 * [backup-simplify]: Simplify (* 1 1) into 1 17.563 * [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)) 17.563 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 17.563 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 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)) 17.564 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.564 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.564 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.564 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 17.564 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.564 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) 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 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 (sin (/ -0.5 phi1)) into (sin (/ -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)) 1) into (sin (/ -0.5 phi1)) 17.564 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.565 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.565 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.565 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.565 * [backup-simplify]: Simplify lambda2 into lambda2 17.565 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.565 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.565 * [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)) 17.565 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.566 * [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)) 17.566 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))))) in lambda1 17.566 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 17.566 * [taylor]: Taking taylor expansion of 2 in lambda1 17.566 * [backup-simplify]: Simplify 2 into 2 17.566 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 17.566 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.566 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.566 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 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 (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.566 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.566 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.566 * [backup-simplify]: Simplify phi1 into phi1 17.567 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.567 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.567 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.567 * [backup-simplify]: Simplify phi2 into phi2 17.567 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.567 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.567 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.567 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.567 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.568 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.568 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.568 * [backup-simplify]: Simplify (- 0) into 0 17.569 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.569 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 17.569 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.569 * [backup-simplify]: Simplify lambda2 into lambda2 17.569 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.569 * [backup-simplify]: Simplify 0 into 0 17.569 * [backup-simplify]: Simplify 1 into 1 17.569 * [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) 17.569 * [backup-simplify]: Simplify (* lambda2 0) into 0 17.570 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 17.570 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 17.570 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))) in lambda1 17.570 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 17.570 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 17.570 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.570 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.570 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.570 * [backup-simplify]: Simplify -0.5 into -0.5 17.570 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.570 * [backup-simplify]: Simplify phi2 into phi2 17.570 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.570 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.571 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.571 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 17.571 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.571 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.571 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.571 * [backup-simplify]: Simplify -0.5 into -0.5 17.571 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.571 * [backup-simplify]: Simplify phi1 into phi1 17.571 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.571 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.571 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.571 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 17.571 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.571 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.571 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.571 * [backup-simplify]: Simplify -0.5 into -0.5 17.571 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.571 * [backup-simplify]: Simplify phi2 into phi2 17.571 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.571 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.572 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.572 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.572 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.572 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.572 * [backup-simplify]: Simplify -0.5 into -0.5 17.572 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.572 * [backup-simplify]: Simplify phi1 into phi1 17.572 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.572 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.572 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.572 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.572 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.572 * [backup-simplify]: Simplify 0 into 0 17.572 * [backup-simplify]: Simplify 1 into 1 17.572 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.572 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.572 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.572 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.573 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.573 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.573 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.573 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.573 * [backup-simplify]: Simplify (- 0) into 0 17.574 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.574 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.574 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.574 * [backup-simplify]: Simplify (- 0) into 0 17.574 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.575 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 17.575 * [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)))) 17.575 * [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))))) 17.576 * [backup-simplify]: Simplify (* 1 1) into 1 17.576 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 1) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 17.576 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))) in lambda1 17.576 * [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 17.576 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda1 17.576 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.576 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.576 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.576 * [backup-simplify]: Simplify -0.5 into -0.5 17.576 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.576 * [backup-simplify]: Simplify phi2 into phi2 17.576 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.577 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.577 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.577 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda1 17.577 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.577 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.577 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.577 * [backup-simplify]: Simplify -0.5 into -0.5 17.577 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.577 * [backup-simplify]: Simplify phi2 into phi2 17.577 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.577 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.577 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.577 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda1 17.577 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.577 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.577 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.577 * [backup-simplify]: Simplify -0.5 into -0.5 17.577 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.577 * [backup-simplify]: Simplify phi1 into phi1 17.577 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.578 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.578 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.578 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.578 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.578 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.578 * [backup-simplify]: Simplify -0.5 into -0.5 17.578 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.578 * [backup-simplify]: Simplify phi1 into phi1 17.578 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.578 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.578 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.578 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.578 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.578 * [backup-simplify]: Simplify lambda2 into lambda2 17.578 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.578 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.579 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.579 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.579 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.579 * [backup-simplify]: Simplify (- 0) into 0 17.579 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.580 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.580 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.580 * [backup-simplify]: Simplify (- 0) into 0 17.580 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.580 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.581 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.581 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.581 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 17.581 * [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)))) 17.582 * [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))))) 17.582 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.582 * [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)) 17.582 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) in lambda1 17.582 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 17.582 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda1 17.582 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.582 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.582 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.583 * [backup-simplify]: Simplify -0.5 into -0.5 17.583 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.583 * [backup-simplify]: Simplify phi2 into phi2 17.583 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.583 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.583 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.583 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda1 17.583 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.583 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.583 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.583 * [backup-simplify]: Simplify -0.5 into -0.5 17.583 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.583 * [backup-simplify]: Simplify phi2 into phi2 17.583 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.583 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.583 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.583 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda1 17.583 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.583 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.584 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.584 * [backup-simplify]: Simplify -0.5 into -0.5 17.584 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.584 * [backup-simplify]: Simplify phi1 into phi1 17.584 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.584 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.584 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.584 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.584 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.584 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.584 * [backup-simplify]: Simplify -0.5 into -0.5 17.584 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.584 * [backup-simplify]: Simplify phi1 into phi1 17.584 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.584 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.584 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.584 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.584 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.584 * [backup-simplify]: Simplify 0 into 0 17.585 * [backup-simplify]: Simplify 1 into 1 17.585 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.585 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.585 * [backup-simplify]: Simplify (- 0) into 0 17.585 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.586 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.586 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.586 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.586 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.586 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.586 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.587 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.587 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.587 * [backup-simplify]: Simplify (- 0) into 0 17.587 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.587 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 17.588 * [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)))) 17.588 * [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))))) 17.588 * [backup-simplify]: Simplify (* 1 1) into 1 17.589 * [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))))) 17.589 * [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 17.589 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 17.589 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.589 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.589 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.589 * [backup-simplify]: Simplify -0.5 into -0.5 17.589 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.589 * [backup-simplify]: Simplify phi1 into phi1 17.589 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.589 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.589 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.589 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 17.589 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.590 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.590 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.590 * [backup-simplify]: Simplify -0.5 into -0.5 17.590 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.590 * [backup-simplify]: Simplify phi2 into phi2 17.590 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.590 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.590 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.590 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 17.590 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.590 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.590 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.590 * [backup-simplify]: Simplify -0.5 into -0.5 17.590 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.590 * [backup-simplify]: Simplify phi2 into phi2 17.590 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.590 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.590 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.590 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.590 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.590 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.591 * [backup-simplify]: Simplify -0.5 into -0.5 17.591 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.591 * [backup-simplify]: Simplify phi1 into phi1 17.591 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.591 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.591 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.591 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.591 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.591 * [backup-simplify]: Simplify lambda2 into lambda2 17.591 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.591 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.592 * [backup-simplify]: Simplify (- 0) into 0 17.592 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.592 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.592 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.592 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.592 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.592 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.593 * [backup-simplify]: Simplify (- 0) into 0 17.593 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.593 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.593 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.593 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.593 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 17.594 * [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)))) 17.594 * [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))))) 17.594 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.595 * [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)) 17.595 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 0) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.596 * [backup-simplify]: Simplify (+ 0 (* (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)) 17.596 * [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))) 17.597 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 0) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 17.597 * [backup-simplify]: Simplify (+ 0 (* (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))))) 17.598 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) 17.600 * [backup-simplify]: Simplify (+ 0 (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -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)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 17.601 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (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))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 17.603 * [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))) (- (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -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))) (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 17.603 * [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 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 17.603 * [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 lambda2 17.603 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 17.603 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 17.603 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.603 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.603 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.603 * [backup-simplify]: Simplify -0.5 into -0.5 17.603 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.603 * [backup-simplify]: Simplify phi2 into phi2 17.604 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.604 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.604 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.604 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.604 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.605 * [backup-simplify]: Simplify (- 0) into 0 17.605 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.605 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 17.605 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.605 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.605 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.605 * [backup-simplify]: Simplify -0.5 into -0.5 17.605 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.605 * [backup-simplify]: Simplify phi1 into phi1 17.605 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.605 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.605 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.606 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.606 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.606 * [backup-simplify]: Simplify (- 0) into 0 17.606 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.606 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 17.606 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 17.606 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.606 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.606 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.606 * [backup-simplify]: Simplify -0.5 into -0.5 17.606 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.607 * [backup-simplify]: Simplify phi2 into phi2 17.607 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.607 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.607 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.607 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.607 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.607 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.607 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 17.607 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.607 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.607 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.607 * [backup-simplify]: Simplify -0.5 into -0.5 17.607 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.607 * [backup-simplify]: Simplify phi1 into phi1 17.607 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.607 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.607 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.608 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.608 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.608 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.608 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 17.608 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2 17.608 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.608 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.608 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.608 * [backup-simplify]: Simplify -0.5 into -0.5 17.608 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.608 * [backup-simplify]: Simplify phi1 into phi1 17.608 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.608 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.608 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.608 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2 17.608 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.608 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.608 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.608 * [backup-simplify]: Simplify -0.5 into -0.5 17.608 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.608 * [backup-simplify]: Simplify phi2 into phi2 17.608 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.608 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.608 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.608 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 17.608 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.608 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.608 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.608 * [backup-simplify]: Simplify -0.5 into -0.5 17.608 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.608 * [backup-simplify]: Simplify phi2 into phi2 17.608 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.608 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.609 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.609 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.609 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.609 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.609 * [backup-simplify]: Simplify -0.5 into -0.5 17.609 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.609 * [backup-simplify]: Simplify phi1 into phi1 17.609 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.609 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.609 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.609 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 17.609 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.609 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.609 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.609 * [backup-simplify]: Simplify -0.5 into -0.5 17.609 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.609 * [backup-simplify]: Simplify phi2 into phi2 17.609 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.609 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.609 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.609 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 17.609 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.609 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.609 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.609 * [backup-simplify]: Simplify -0.5 into -0.5 17.609 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.609 * [backup-simplify]: Simplify phi2 into phi2 17.609 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.609 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.609 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.609 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 17.609 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.609 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.609 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.609 * [backup-simplify]: Simplify -0.5 into -0.5 17.609 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.609 * [backup-simplify]: Simplify phi1 into phi1 17.610 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.610 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.610 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.610 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.610 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.610 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.610 * [backup-simplify]: Simplify -0.5 into -0.5 17.610 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.610 * [backup-simplify]: Simplify phi1 into phi1 17.610 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.610 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.610 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.610 * [backup-simplify]: Simplify (+ 0) into 0 17.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.611 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.611 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.612 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.612 * [backup-simplify]: Simplify (- 0) into 0 17.612 * [backup-simplify]: Simplify (+ 0 0) into 0 17.612 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.612 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.613 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 17.613 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.613 * [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 17.613 * [backup-simplify]: Simplify (+ 0) into 0 17.614 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.614 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.614 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.615 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.615 * [backup-simplify]: Simplify (- 0) into 0 17.615 * [backup-simplify]: Simplify (+ 0 0) into 0 17.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.615 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 17.616 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.616 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.616 * [backup-simplify]: Simplify (+ 0) into 0 17.617 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.617 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.617 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.617 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.618 * [backup-simplify]: Simplify (+ 0 0) into 0 17.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 17.618 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 17.618 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.619 * [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 17.619 * [backup-simplify]: Simplify (+ 0) into 0 17.619 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.619 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.620 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.620 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.620 * [backup-simplify]: Simplify (+ 0 0) into 0 17.620 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.620 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 17.621 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 17.621 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.621 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.621 * [backup-simplify]: Simplify (+ 0 0) into 0 17.622 * [backup-simplify]: Simplify (+ 0 0) into 0 17.622 * [backup-simplify]: Simplify (+ 0 0) into 0 17.622 * [backup-simplify]: Simplify (+ 0) into 0 17.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.623 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.623 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.624 * [backup-simplify]: Simplify (- 0) into 0 17.624 * [backup-simplify]: Simplify (+ 0 0) into 0 17.624 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.624 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 17.624 * [backup-simplify]: Simplify (+ 0) into 0 17.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.625 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.626 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.626 * [backup-simplify]: Simplify (+ 0 0) into 0 17.626 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 17.626 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.626 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.627 * [backup-simplify]: Simplify (+ 0) into 0 17.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.627 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.628 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.628 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.628 * [backup-simplify]: Simplify (+ 0 0) into 0 17.628 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 17.628 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 17.629 * [backup-simplify]: Simplify (+ 0) into 0 17.629 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.629 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.630 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.630 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.630 * [backup-simplify]: Simplify (- 0) into 0 17.630 * [backup-simplify]: Simplify (+ 0 0) into 0 17.631 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 17.631 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.631 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.631 * [backup-simplify]: Simplify (+ 0) into 0 17.632 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.632 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.632 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.633 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.633 * [backup-simplify]: Simplify (- 0) into 0 17.633 * [backup-simplify]: Simplify (+ 0 0) into 0 17.633 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.633 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 17.634 * [backup-simplify]: Simplify (+ 0) into 0 17.634 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.634 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.635 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.635 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.635 * [backup-simplify]: Simplify (+ 0 0) into 0 17.635 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 17.635 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.636 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.637 * [backup-simplify]: Simplify (+ 0) into 0 17.637 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.637 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.638 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.639 * [backup-simplify]: Simplify (+ 0 0) into 0 17.639 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 17.639 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 17.640 * [backup-simplify]: Simplify (+ 0) into 0 17.640 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.640 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.642 * [backup-simplify]: Simplify (- 0) into 0 17.642 * [backup-simplify]: Simplify (+ 0 0) into 0 17.643 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 17.643 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.644 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.644 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.644 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 17.645 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 17.646 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 17.646 * [backup-simplify]: Simplify (+ 0 0) into 0 17.647 * [backup-simplify]: Simplify (+ 0 0) into 0 17.647 * [backup-simplify]: Simplify (+ 0 0) into 0 17.647 * [backup-simplify]: Simplify (+ 0 0) into 0 17.648 * [backup-simplify]: Simplify (- 0) into 0 17.648 * [backup-simplify]: Simplify (+ 0 0) into 0 17.648 * [taylor]: Taking taylor expansion of 0 in phi1 17.648 * [backup-simplify]: Simplify 0 into 0 17.648 * [taylor]: Taking taylor expansion of 0 in lambda1 17.648 * [backup-simplify]: Simplify 0 into 0 17.648 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.649 * [backup-simplify]: Simplify (+ 0) into 0 17.649 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.649 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.651 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.651 * [backup-simplify]: Simplify (+ 0 0) into 0 17.651 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 17.652 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 17.652 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.653 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.653 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.653 * [backup-simplify]: Simplify (+ 0) into 0 17.654 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.654 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.656 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.656 * [backup-simplify]: Simplify (- 0) into 0 17.656 * [backup-simplify]: Simplify (+ 0 0) into 0 17.657 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.657 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 17.657 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.658 * [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 17.658 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.659 * [backup-simplify]: Simplify (+ 0) into 0 17.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.660 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.661 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.661 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.661 * [backup-simplify]: Simplify (- 0) into 0 17.662 * [backup-simplify]: Simplify (+ 0 0) into 0 17.662 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.662 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 17.663 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.663 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.664 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.664 * [backup-simplify]: Simplify (+ 0) into 0 17.665 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.665 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.666 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.666 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.666 * [backup-simplify]: Simplify (+ 0 0) into 0 17.667 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 17.667 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 17.667 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.668 * [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 17.668 * [backup-simplify]: Simplify (+ 0 0) into 0 17.669 * [backup-simplify]: Simplify (+ 0 0) into 0 17.669 * [backup-simplify]: Simplify (+ 0 0) into 0 17.669 * [backup-simplify]: Simplify (+ 0) into 0 17.670 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.670 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.671 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.671 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.672 * [backup-simplify]: Simplify (- 0) into 0 17.672 * [backup-simplify]: Simplify (+ 0 0) into 0 17.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.673 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 17.673 * [backup-simplify]: Simplify (+ 0) into 0 17.674 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.674 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.675 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.675 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.675 * [backup-simplify]: Simplify (+ 0 0) into 0 17.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 17.676 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.677 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.677 * [backup-simplify]: Simplify (+ 0) into 0 17.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.678 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.679 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.680 * [backup-simplify]: Simplify (- 0) into 0 17.680 * [backup-simplify]: Simplify (+ 0 0) into 0 17.680 * [backup-simplify]: Simplify (+ 0) into 0 17.681 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.681 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.682 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.683 * [backup-simplify]: Simplify (+ 0 0) into 0 17.683 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.683 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into 0 17.684 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 17.684 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.685 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.685 * [backup-simplify]: Simplify (+ 0) into 0 17.686 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.686 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.687 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.687 * [backup-simplify]: Simplify (- 0) into 0 17.688 * [backup-simplify]: Simplify (+ 0 0) into 0 17.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 17.689 * [backup-simplify]: Simplify (+ 0) into 0 17.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.689 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.690 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 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 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 17.691 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.692 * [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 17.692 * [backup-simplify]: Simplify (+ 0) into 0 17.693 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.693 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.694 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.695 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.695 * [backup-simplify]: Simplify (+ 0 0) into 0 17.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 17.696 * [backup-simplify]: Simplify (+ 0) into 0 17.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.697 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.697 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.698 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.698 * [backup-simplify]: Simplify (- 0) into 0 17.699 * [backup-simplify]: Simplify (+ 0 0) into 0 17.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 17.699 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.700 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.700 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.700 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 17.701 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 17.707 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 17.708 * [backup-simplify]: Simplify (+ 0 0) into 0 17.708 * [backup-simplify]: Simplify (+ 0 0) into 0 17.708 * [backup-simplify]: Simplify (+ 0 0) into 0 17.709 * [backup-simplify]: Simplify (+ 0 0) into 0 17.709 * [backup-simplify]: Simplify (- 0) into 0 17.710 * [backup-simplify]: Simplify (+ 0 0) into 0 17.710 * [taylor]: Taking taylor expansion of 0 in lambda1 17.710 * [backup-simplify]: Simplify 0 into 0 17.710 * [backup-simplify]: Simplify (+ 0) into 0 17.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.711 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.713 * [backup-simplify]: Simplify (+ 0 0) into 0 17.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.713 * [backup-simplify]: Simplify (+ 0) into 0 17.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.714 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.715 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.715 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.716 * [backup-simplify]: Simplify (+ 0 0) into 0 17.716 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 17.716 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 17.717 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.718 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 17.718 * [backup-simplify]: Simplify (+ 0) into 0 17.719 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.719 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.720 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.721 * [backup-simplify]: Simplify (- 0) into 0 17.721 * [backup-simplify]: Simplify (+ 0 0) into 0 17.721 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.722 * [backup-simplify]: Simplify (+ 0) into 0 17.722 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.723 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.723 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.724 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.724 * [backup-simplify]: Simplify (- 0) into 0 17.725 * [backup-simplify]: Simplify (+ 0 0) into 0 17.725 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.725 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 17.726 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.728 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 17.728 * [backup-simplify]: Simplify (+ 0 0) into 0 17.728 * [backup-simplify]: Simplify (+ 0 0) into 0 17.729 * [backup-simplify]: Simplify (+ 0 0) into 0 17.729 * [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)) 17.729 * [backup-simplify]: Simplify (+ 0) into 0 17.730 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.730 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.731 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.731 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.732 * [backup-simplify]: Simplify (- 0) into 0 17.732 * [backup-simplify]: Simplify (+ 0 0) into 0 17.733 * [backup-simplify]: Simplify (+ 0) into 0 17.733 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.733 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.735 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.735 * [backup-simplify]: Simplify (- 0) into 0 17.735 * [backup-simplify]: Simplify (+ 0 0) into 0 17.736 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.736 * [backup-simplify]: Simplify (+ 0) into 0 17.736 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.737 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.737 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.738 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.738 * [backup-simplify]: Simplify (+ 0 0) into 0 17.738 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 17.739 * [backup-simplify]: Simplify (+ 0) into 0 17.739 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.739 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.741 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.741 * [backup-simplify]: Simplify (+ 0 0) into 0 17.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 17.742 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.743 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0 17.744 * [backup-simplify]: Simplify (+ 0) into 0 17.744 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.744 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.745 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.745 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.745 * [backup-simplify]: Simplify (- 0) into 0 17.745 * [backup-simplify]: Simplify (+ 0 0) into 0 17.746 * [backup-simplify]: Simplify (+ 0) into 0 17.746 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.746 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.746 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.747 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.747 * [backup-simplify]: Simplify (+ 0 0) into 0 17.747 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.748 * [backup-simplify]: Simplify (+ 0) into 0 17.748 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.748 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.749 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.749 * [backup-simplify]: Simplify (+ 0 0) into 0 17.749 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 17.749 * [backup-simplify]: Simplify (+ 0) into 0 17.750 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.750 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.750 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.751 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.751 * [backup-simplify]: Simplify (- 0) into 0 17.751 * [backup-simplify]: Simplify (+ 0 0) into 0 17.751 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 17.752 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.752 * [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 17.753 * [backup-simplify]: Simplify (+ 0 0) into 0 17.753 * [backup-simplify]: Simplify (+ 0 0) into 0 17.753 * [backup-simplify]: Simplify (+ 0 0) into 0 17.753 * [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)) 17.754 * [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))) 17.754 * [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))) 17.754 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2 17.754 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 17.754 * [taylor]: Taking taylor expansion of 2 in lambda2 17.754 * [backup-simplify]: Simplify 2 into 2 17.754 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 17.754 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.754 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.754 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.754 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.754 * [backup-simplify]: Simplify -0.5 into -0.5 17.754 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.754 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.754 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.754 * [backup-simplify]: Simplify phi1 into phi1 17.754 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.754 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.754 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.754 * [backup-simplify]: Simplify phi2 into phi2 17.754 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.754 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.755 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.755 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.755 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.755 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.755 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.755 * [backup-simplify]: Simplify (- 0) into 0 17.755 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.755 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.755 * [backup-simplify]: Simplify 0 into 0 17.755 * [backup-simplify]: Simplify 1 into 1 17.756 * [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) 17.756 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.757 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.757 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.757 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.758 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.758 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.758 * [backup-simplify]: Simplify (- 0) into 0 17.758 * [backup-simplify]: Simplify (+ 0 0) into 0 17.759 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.759 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 17.760 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 17.760 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.760 * [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 17.761 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.761 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.761 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.762 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.762 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.763 * [backup-simplify]: Simplify (- 0) into 0 17.763 * [backup-simplify]: Simplify (+ 0 0) into 0 17.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 17.764 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 17.764 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.765 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.766 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.766 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.767 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.768 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.768 * [backup-simplify]: Simplify (+ 0 0) into 0 17.769 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.769 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 17.770 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 17.770 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.770 * [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 17.771 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.771 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.772 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.772 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.772 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.773 * [backup-simplify]: Simplify (+ 0 0) into 0 17.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 17.774 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 17.774 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.775 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.775 * [backup-simplify]: Simplify (+ 0 0) into 0 17.775 * [backup-simplify]: Simplify (+ 0 0) into 0 17.775 * [backup-simplify]: Simplify (+ 0 0) into 0 17.776 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.776 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.777 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.777 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.777 * [backup-simplify]: Simplify (- 0) into 0 17.778 * [backup-simplify]: Simplify (+ 0 0) into 0 17.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 17.778 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 17.779 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.779 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.780 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.780 * [backup-simplify]: Simplify (+ 0 0) into 0 17.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 17.781 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.782 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.782 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.783 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.783 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.784 * [backup-simplify]: Simplify (+ 0 0) into 0 17.784 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 17.785 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 17.785 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.786 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.786 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.786 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.787 * [backup-simplify]: Simplify (- 0) into 0 17.787 * [backup-simplify]: Simplify (+ 0 0) into 0 17.787 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 17.788 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.788 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.789 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.789 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.790 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.790 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.790 * [backup-simplify]: Simplify (- 0) into 0 17.791 * [backup-simplify]: Simplify (+ 0 0) into 0 17.791 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 17.791 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 17.792 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.793 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.793 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.794 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.795 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.795 * [backup-simplify]: Simplify (+ 0 0) into 0 17.796 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 17.796 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.797 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.798 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.799 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.799 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.800 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.800 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.801 * [backup-simplify]: Simplify (+ 0 0) into 0 17.801 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 17.802 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 17.803 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.804 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.804 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.805 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.805 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.806 * [backup-simplify]: Simplify (- 0) into 0 17.806 * [backup-simplify]: Simplify (+ 0 0) into 0 17.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 17.807 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.808 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.809 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 17.810 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.810 * [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 17.811 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into 0 17.812 * [backup-simplify]: Simplify (+ 0 0) into 0 17.812 * [backup-simplify]: Simplify (+ 0 0) into 0 17.812 * [backup-simplify]: Simplify (+ 0 0) into 0 17.813 * [backup-simplify]: Simplify (+ 0 0) into 0 17.813 * [backup-simplify]: Simplify (- 0) into 0 17.813 * [backup-simplify]: Simplify (+ 0 0) into 0 17.813 * [taylor]: Taking taylor expansion of 0 in phi1 17.814 * [backup-simplify]: Simplify 0 into 0 17.814 * [taylor]: Taking taylor expansion of 0 in lambda1 17.814 * [backup-simplify]: Simplify 0 into 0 17.814 * [taylor]: Taking taylor expansion of 0 in lambda1 17.814 * [backup-simplify]: Simplify 0 into 0 17.814 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.816 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.816 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.817 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.817 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.818 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.818 * [backup-simplify]: Simplify (+ 0 0) into 0 17.819 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 17.819 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 17.820 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.821 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.821 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.822 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.823 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.823 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.824 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.824 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.825 * [backup-simplify]: Simplify (- 0) into 0 17.825 * [backup-simplify]: Simplify (+ 0 0) into 0 17.826 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 17.826 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 17.827 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.828 * [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 17.828 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.829 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.835 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.836 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.836 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.837 * [backup-simplify]: Simplify (- 0) into 0 17.837 * [backup-simplify]: Simplify (+ 0 0) into 0 17.838 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 17.838 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 17.839 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.840 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.840 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.841 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.842 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.842 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.843 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.844 * [backup-simplify]: Simplify (+ 0 0) into 0 17.844 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 17.845 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 17.846 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.846 * [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 17.847 * [backup-simplify]: Simplify (+ 0 0) into 0 17.847 * [backup-simplify]: Simplify (+ 0 0) into 0 17.847 * [backup-simplify]: Simplify (+ 0 0) into 0 17.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.849 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.850 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.851 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.851 * [backup-simplify]: Simplify (- 0) into 0 17.851 * [backup-simplify]: Simplify (+ 0 0) into 0 17.852 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 17.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 17.853 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.854 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.855 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.856 * [backup-simplify]: Simplify (+ 0 0) into 0 17.857 * [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 17.857 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.858 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.859 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.860 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.861 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.862 * [backup-simplify]: Simplify (- 0) into 0 17.862 * [backup-simplify]: Simplify (+ 0 0) into 0 17.863 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.864 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.865 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.865 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 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 0) (* 0 (cos (/ -0.5 phi2))))) into 0 17.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 17.866 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into 0 17.867 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.867 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.868 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.868 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.869 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.869 * [backup-simplify]: Simplify (- 0) into 0 17.870 * [backup-simplify]: Simplify (+ 0 0) into 0 17.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 17.871 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.871 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.871 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.872 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.872 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.872 * [backup-simplify]: Simplify (+ 0 0) into 0 17.873 * [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 17.873 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.874 * [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 17.874 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.875 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.875 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.876 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.876 * [backup-simplify]: Simplify (+ 0 0) into 0 17.876 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 17.877 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.878 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.878 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.879 * [backup-simplify]: Simplify (- 0) into 0 17.879 * [backup-simplify]: Simplify (+ 0 0) into 0 17.880 * [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 17.880 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.881 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.881 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 17.881 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.882 * [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 17.882 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into 0 17.883 * [backup-simplify]: Simplify (+ 0 0) into 0 17.883 * [backup-simplify]: Simplify (+ 0 0) 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 (+ 0 0) into 0 17.884 * [taylor]: Taking taylor expansion of 0 in lambda1 17.884 * [backup-simplify]: Simplify 0 into 0 17.884 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.885 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.885 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.886 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.886 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.886 * [backup-simplify]: Simplify (+ 0 0) into 0 17.887 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.887 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.888 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.888 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.888 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.889 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.889 * [backup-simplify]: Simplify (+ 0 0) into 0 17.889 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 17.890 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 17.890 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.891 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.892 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.893 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.893 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.893 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.894 * [backup-simplify]: Simplify (- 0) into 0 17.894 * [backup-simplify]: Simplify (+ 0 0) into 0 17.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.895 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.895 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.895 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.896 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.896 * [backup-simplify]: Simplify (- 0) into 0 17.897 * [backup-simplify]: Simplify (+ 0 0) into 0 17.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 17.897 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 17.898 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.899 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.899 * [backup-simplify]: Simplify (+ 0 (/ (* (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)) 17.900 * [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))) 17.900 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (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))) 17.901 * [backup-simplify]: Simplify (+ 0) into 0 17.901 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 17.901 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 17.901 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 17.902 * [backup-simplify]: Simplify (+ 0 0) into 0 17.902 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 17.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.903 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 17.903 * [backup-simplify]: Simplify (- 0) into 0 17.903 * [backup-simplify]: Simplify (+ 0 0) into 0 17.903 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.904 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 17.904 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 17.905 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 17.905 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.906 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.906 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.907 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.907 * [backup-simplify]: Simplify (- 0) into 0 17.907 * [backup-simplify]: Simplify (+ 0 0) into 0 17.908 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.908 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.908 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.909 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.909 * [backup-simplify]: Simplify (- 0) into 0 17.909 * [backup-simplify]: Simplify (+ 0 0) into 0 17.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.910 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.911 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.911 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.912 * [backup-simplify]: Simplify (+ 0 0) into 0 17.912 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 17.913 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.913 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.914 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.914 * [backup-simplify]: Simplify (+ 0 0) into 0 17.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into 0 17.915 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.916 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.917 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.917 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.917 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.918 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.918 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.918 * [backup-simplify]: Simplify (- 0) into 0 17.919 * [backup-simplify]: Simplify (+ 0 0) into 0 17.919 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.920 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.920 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.921 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.921 * [backup-simplify]: Simplify (+ 0 0) into 0 17.922 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.922 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.923 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.923 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.923 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.924 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.924 * [backup-simplify]: Simplify (+ 0 0) into 0 17.924 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 17.925 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.925 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.926 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.926 * [backup-simplify]: Simplify (- 0) into 0 17.927 * [backup-simplify]: Simplify (+ 0 0) into 0 17.927 * [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 17.928 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.929 * [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 17.929 * [backup-simplify]: Simplify (+ 0 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) 17.930 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) into (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) 17.931 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) into (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) 17.931 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) into (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) 17.932 * [backup-simplify]: Simplify (- (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) into (- (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) 17.934 * [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))) (- (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (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))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))) 17.934 * [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))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))) in lambda2 17.934 * [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 17.934 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 17.934 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 17.934 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 17.934 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.934 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.934 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.934 * [backup-simplify]: Simplify -0.5 into -0.5 17.934 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.934 * [backup-simplify]: Simplify phi2 into phi2 17.934 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.934 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.934 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.934 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.934 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.935 * [backup-simplify]: Simplify (- 0) into 0 17.935 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.935 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 17.935 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.935 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.935 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.935 * [backup-simplify]: Simplify -0.5 into -0.5 17.935 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.935 * [backup-simplify]: Simplify phi1 into phi1 17.935 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.935 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.935 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.935 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.935 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.935 * [backup-simplify]: Simplify (- 0) into 0 17.935 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.935 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.935 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.935 * [backup-simplify]: Simplify 0 into 0 17.935 * [backup-simplify]: Simplify 1 into 1 17.935 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.936 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.936 * [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)) 17.936 * [backup-simplify]: Simplify (* 1 1) into 1 17.936 * [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)) 17.936 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 17.936 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 17.936 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 17.936 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.936 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.936 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.936 * [backup-simplify]: Simplify -0.5 into -0.5 17.936 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.936 * [backup-simplify]: Simplify phi2 into phi2 17.937 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.937 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.937 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.937 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.937 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.937 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.937 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 17.937 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.937 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.937 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.937 * [backup-simplify]: Simplify -0.5 into -0.5 17.937 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.937 * [backup-simplify]: Simplify phi1 into phi1 17.937 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.937 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.937 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.937 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.937 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.937 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.937 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.937 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.937 * [backup-simplify]: Simplify 0 into 0 17.937 * [backup-simplify]: Simplify 1 into 1 17.937 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.938 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.938 * [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)) 17.941 * [backup-simplify]: Simplify (* 1 1) into 1 17.941 * [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)) 17.941 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) in lambda2 17.941 * [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 17.941 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 17.942 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.942 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.942 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.942 * [backup-simplify]: Simplify -0.5 into -0.5 17.942 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.942 * [backup-simplify]: Simplify phi2 into phi2 17.942 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.942 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.942 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.942 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 17.942 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.942 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.942 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.942 * [backup-simplify]: Simplify -0.5 into -0.5 17.942 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.942 * [backup-simplify]: Simplify phi2 into phi2 17.942 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.942 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.942 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.942 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 17.942 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.942 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.942 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.942 * [backup-simplify]: Simplify -0.5 into -0.5 17.942 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.942 * [backup-simplify]: Simplify phi1 into phi1 17.942 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.942 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.942 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.942 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.942 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.942 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.942 * [backup-simplify]: Simplify -0.5 into -0.5 17.942 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.942 * [backup-simplify]: Simplify phi1 into phi1 17.942 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.942 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.943 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.943 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.943 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.943 * [backup-simplify]: Simplify 0 into 0 17.943 * [backup-simplify]: Simplify 1 into 1 17.943 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.943 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.943 * [backup-simplify]: Simplify (- 0) into 0 17.943 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.943 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.943 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.943 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.944 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.944 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.944 * [backup-simplify]: Simplify (- 0) into 0 17.944 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.944 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.944 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.944 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.944 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 17.944 * [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)))) 17.944 * [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))))) 17.945 * [backup-simplify]: Simplify (* 1 1) into 1 17.945 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 17.945 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) in lambda2 17.945 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) in lambda2 17.945 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.945 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.945 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.945 * [backup-simplify]: Simplify -0.5 into -0.5 17.945 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.945 * [backup-simplify]: Simplify phi1 into phi1 17.945 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.945 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.945 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.945 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in lambda2 17.945 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.945 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.945 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.945 * [backup-simplify]: Simplify -0.5 into -0.5 17.945 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.945 * [backup-simplify]: Simplify phi1 into phi1 17.945 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.945 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.946 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.946 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) in lambda2 17.946 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.946 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.946 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.946 * [backup-simplify]: Simplify -0.5 into -0.5 17.946 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.946 * [backup-simplify]: Simplify phi2 into phi2 17.946 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.946 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.946 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.946 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.946 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.946 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.946 * [backup-simplify]: Simplify -0.5 into -0.5 17.946 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.946 * [backup-simplify]: Simplify phi2 into phi2 17.946 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.946 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.946 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.946 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.946 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.946 * [backup-simplify]: Simplify 0 into 0 17.946 * [backup-simplify]: Simplify 1 into 1 17.946 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.946 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.946 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.946 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.946 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.947 * [backup-simplify]: Simplify (- 0) into 0 17.947 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.947 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.947 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.947 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.947 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.947 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.947 * [backup-simplify]: Simplify (- 0) into 0 17.947 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.948 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 17.948 * [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)))) 17.948 * [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))))) 17.948 * [backup-simplify]: Simplify (* 1 1) into 1 17.948 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 17.949 * [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))) 17.949 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (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))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 17.950 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 17.951 * [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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (* (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))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 17.952 * [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))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (* (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))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 17.952 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 17.952 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 17.952 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 17.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.953 * [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)) 17.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.953 * [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)) 17.954 * [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))) 17.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.954 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.954 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.955 * [backup-simplify]: Simplify (- 0) into 0 17.955 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.955 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.955 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.955 * [backup-simplify]: Simplify (- 0) into 0 17.955 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.955 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 17.955 * [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)))) 17.956 * [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))))) 17.956 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.956 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.956 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.957 * [backup-simplify]: Simplify (- 0) into 0 17.957 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.957 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.958 * [backup-simplify]: Simplify (- 0) into 0 17.958 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 17.958 * [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)))) 17.958 * [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))))) 17.959 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (* (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))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 17.960 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 17.962 * [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))))) (* (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))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 17.964 * [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))))) (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 17.973 * [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))))))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi2))))))))) (pow (* 1 (* (/ 1 (/ 1 (- lambda1))) (* 1 1))) 2)) (+ (* (- (* 2 (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2))) (* (/ 1 (/ 1 (- lambda2))) (* (/ 1 (/ 1 (- lambda1))) (* 1 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))) (+ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi2))))))))) (pow (* (/ 1 (/ 1 (- lambda2))) (* 1 (* 1 1))) 2)))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))))))) 17.973 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1 1 1) 17.974 * [backup-simplify]: Simplify (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) into (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) 17.974 * [approximate]: Taking taylor expansion of (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) in (phi2 phi1) around 0 17.974 * [taylor]: Taking taylor expansion of (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) in phi1 17.974 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi1 17.974 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi1 17.974 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 17.974 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 17.974 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.974 * [backup-simplify]: Simplify 0.5 into 0.5 17.974 * [taylor]: Taking taylor expansion of phi2 in phi1 17.974 * [backup-simplify]: Simplify phi2 into phi2 17.974 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.974 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.974 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.974 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.974 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.974 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.974 * [backup-simplify]: Simplify 0.5 into 0.5 17.974 * [taylor]: Taking taylor expansion of phi1 in phi1 17.974 * [backup-simplify]: Simplify 0 into 0 17.974 * [backup-simplify]: Simplify 1 into 1 17.975 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.977 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.977 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi1 17.977 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 17.977 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 17.977 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.977 * [backup-simplify]: Simplify 0.5 into 0.5 17.977 * [taylor]: Taking taylor expansion of phi2 in phi1 17.977 * [backup-simplify]: Simplify phi2 into phi2 17.977 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.977 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.977 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.977 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.977 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.977 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.977 * [backup-simplify]: Simplify 0.5 into 0.5 17.977 * [taylor]: Taking taylor expansion of phi1 in phi1 17.978 * [backup-simplify]: Simplify 0 into 0 17.978 * [backup-simplify]: Simplify 1 into 1 17.978 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.979 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.980 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 17.980 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 17.980 * [backup-simplify]: Simplify (- 0) into 0 17.980 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 17.980 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 17.980 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 17.980 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 17.980 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 17.981 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 17.981 * [backup-simplify]: Simplify (- 0) into 0 17.981 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 17.981 * [taylor]: Taking taylor expansion of (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) in phi2 17.981 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi2 17.981 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi2 17.981 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 17.981 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.981 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.981 * [backup-simplify]: Simplify 0.5 into 0.5 17.981 * [taylor]: Taking taylor expansion of phi2 in phi2 17.981 * [backup-simplify]: Simplify 0 into 0 17.981 * [backup-simplify]: Simplify 1 into 1 17.982 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.983 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.984 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 17.984 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.984 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.984 * [backup-simplify]: Simplify 0.5 into 0.5 17.984 * [taylor]: Taking taylor expansion of phi1 in phi2 17.984 * [backup-simplify]: Simplify phi1 into phi1 17.984 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.984 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.984 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.984 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 17.984 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 17.984 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.984 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.984 * [backup-simplify]: Simplify 0.5 into 0.5 17.984 * [taylor]: Taking taylor expansion of phi2 in phi2 17.984 * [backup-simplify]: Simplify 0 into 0 17.984 * [backup-simplify]: Simplify 1 into 1 17.984 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.986 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.986 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 17.986 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.986 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.986 * [backup-simplify]: Simplify 0.5 into 0.5 17.986 * [taylor]: Taking taylor expansion of phi1 in phi2 17.986 * [backup-simplify]: Simplify phi1 into phi1 17.986 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.986 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.986 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.986 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 17.986 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.987 * [backup-simplify]: Simplify (- 0) into 0 17.987 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.987 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi1))) into (cos (* 0.5 phi1)) 17.987 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 17.987 * [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)) 17.988 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi1))) into 0 17.988 * [backup-simplify]: Simplify (- 0) into 0 17.988 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.988 * [taylor]: Taking taylor expansion of (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) in phi2 17.988 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi2 17.988 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi2 17.988 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 17.988 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.989 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.989 * [backup-simplify]: Simplify 0.5 into 0.5 17.989 * [taylor]: Taking taylor expansion of phi2 in phi2 17.989 * [backup-simplify]: Simplify 0 into 0 17.989 * [backup-simplify]: Simplify 1 into 1 17.989 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.991 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.991 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 17.991 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.991 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.991 * [backup-simplify]: Simplify 0.5 into 0.5 17.991 * [taylor]: Taking taylor expansion of phi1 in phi2 17.991 * [backup-simplify]: Simplify phi1 into phi1 17.991 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.991 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.991 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.991 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 17.991 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 17.991 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.991 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.991 * [backup-simplify]: Simplify 0.5 into 0.5 17.991 * [taylor]: Taking taylor expansion of phi2 in phi2 17.991 * [backup-simplify]: Simplify 0 into 0 17.991 * [backup-simplify]: Simplify 1 into 1 17.992 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.993 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.993 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 17.993 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.993 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.993 * [backup-simplify]: Simplify 0.5 into 0.5 17.993 * [taylor]: Taking taylor expansion of phi1 in phi2 17.993 * [backup-simplify]: Simplify phi1 into phi1 17.994 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.994 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.994 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.994 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 17.994 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.994 * [backup-simplify]: Simplify (- 0) into 0 17.994 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.994 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi1))) into (cos (* 0.5 phi1)) 17.995 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 17.995 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 17.995 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 17.995 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi1))) into 0 17.995 * [backup-simplify]: Simplify (- 0) into 0 17.995 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.996 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 17.996 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 17.996 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.996 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.996 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.996 * [backup-simplify]: Simplify 0.5 into 0.5 17.996 * [taylor]: Taking taylor expansion of phi1 in phi1 17.996 * [backup-simplify]: Simplify 0 into 0 17.996 * [backup-simplify]: Simplify 1 into 1 17.996 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.998 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.998 * [backup-simplify]: Simplify (* 1 1) into 1 17.998 * [backup-simplify]: Simplify 1 into 1 17.999 * [backup-simplify]: Simplify (+ 0) into 0 17.999 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 18.000 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 18.001 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.001 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 18.002 * [backup-simplify]: Simplify (- 0) into 0 18.002 * [backup-simplify]: Simplify (+ 0 0) into 0 18.002 * [backup-simplify]: Simplify (+ 0) into 0 18.003 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi1)))) into 0 18.003 * [backup-simplify]: Simplify (+ 0) into 0 18.004 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 18.004 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 18.005 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.005 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 18.006 * [backup-simplify]: Simplify (+ 0 0) into 0 18.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 18.009 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi1)))) into (* 0.5 (sin (* 0.5 phi1))) 18.009 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 18.009 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 18.009 * [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))))) 18.009 * [taylor]: Taking taylor expansion of (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) in phi1 18.009 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) in phi1 18.009 * [taylor]: Taking taylor expansion of 1.0 in phi1 18.010 * [backup-simplify]: Simplify 1.0 into 1.0 18.010 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) in phi1 18.010 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 18.010 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 18.010 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.010 * [backup-simplify]: Simplify 0.5 into 0.5 18.010 * [taylor]: Taking taylor expansion of phi1 in phi1 18.010 * [backup-simplify]: Simplify 0 into 0 18.010 * [backup-simplify]: Simplify 1 into 1 18.010 * [backup-simplify]: Simplify (* 0.5 0) into 0 18.012 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 18.012 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 18.012 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 18.012 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.012 * [backup-simplify]: Simplify 0.5 into 0.5 18.012 * [taylor]: Taking taylor expansion of phi1 in phi1 18.012 * [backup-simplify]: Simplify 0 into 0 18.012 * [backup-simplify]: Simplify 1 into 1 18.012 * [backup-simplify]: Simplify (* 0.5 0) into 0 18.014 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 18.014 * [backup-simplify]: Simplify (* 1 0) into 0 18.015 * [backup-simplify]: Simplify (* 1.0 0) into 0 18.015 * [backup-simplify]: Simplify (- 0) into 0 18.015 * [backup-simplify]: Simplify 0 into 0 18.016 * [backup-simplify]: Simplify (+ 0) into 0 18.016 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.016 * [backup-simplify]: Simplify 0 into 0 18.017 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.018 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.019 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 18.020 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.020 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.020 * [backup-simplify]: Simplify (- 0) into 0 18.021 * [backup-simplify]: Simplify (+ 0 0) into 0 18.024 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 18.025 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.125) (cos (* 0.5 phi1))))) into (- (* 0.125 (cos (* 0.5 phi1)))) 18.026 * [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 18.028 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.029 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.029 * [backup-simplify]: Simplify (+ 0 0) into 0 18.030 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 18.031 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.031 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (sin (* 0.5 phi1))))) into 0 18.032 * [backup-simplify]: Simplify (- 0) into 0 18.032 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 18.033 * [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))) 18.033 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) in phi1 18.033 * [taylor]: Taking taylor expansion of (* 0.25 (pow (sin (* 0.5 phi1)) 2)) in phi1 18.033 * [taylor]: Taking taylor expansion of 0.25 in phi1 18.033 * [backup-simplify]: Simplify 0.25 into 0.25 18.033 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 18.033 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 18.033 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 18.033 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.033 * [backup-simplify]: Simplify 0.5 into 0.5 18.033 * [taylor]: Taking taylor expansion of phi1 in phi1 18.033 * [backup-simplify]: Simplify 0 into 0 18.033 * [backup-simplify]: Simplify 1 into 1 18.033 * [backup-simplify]: Simplify (* 0.5 0) into 0 18.035 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 18.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 18.037 * [taylor]: Taking taylor expansion of (* 0.25 (pow (cos (* 0.5 phi1)) 2)) in phi1 18.037 * [taylor]: Taking taylor expansion of 0.25 in phi1 18.038 * [backup-simplify]: Simplify 0.25 into 0.25 18.038 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 18.038 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 18.038 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 18.038 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.038 * [backup-simplify]: Simplify 0.5 into 0.5 18.038 * [taylor]: Taking taylor expansion of phi1 in phi1 18.038 * [backup-simplify]: Simplify 0 into 0 18.038 * [backup-simplify]: Simplify 1 into 1 18.038 * [backup-simplify]: Simplify (* 0.5 0) into 0 18.040 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 18.040 * [backup-simplify]: Simplify (* 1 1) into 1 18.040 * [backup-simplify]: Simplify (* 0.25 1) into 0.25 18.041 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 18.042 * [backup-simplify]: Simplify (+ 0 (- 0.25)) into (- 0.25) 18.042 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 18.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 18.044 * [backup-simplify]: Simplify (+ 0) into 0 18.045 * [backup-simplify]: Simplify (+ (* 1 0.5) (* 0 0)) into 0.5 18.046 * [backup-simplify]: Simplify (+ (* 1.0 0.5) (* 0 0)) into 0.5 18.046 * [backup-simplify]: Simplify (- 0.5) into (- 0.5) 18.046 * [backup-simplify]: Simplify (- 0.5) into (- 0.5) 18.047 * [backup-simplify]: Simplify (+ (* (- 0.5) (* phi1 phi2)) (+ (* (- 0.25) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.5 (* phi2 phi1)) (* 0.25 (pow phi2 2)))) 18.047 * [backup-simplify]: Simplify (pow (- (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5))) (* (sin (* 0.5 (/ 1 phi2))) (sin (* 0.5 (/ 1 phi1))))) 2) into (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) 18.047 * [approximate]: Taking taylor expansion of (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) in (phi2 phi1) around 0 18.047 * [taylor]: Taking taylor expansion of (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) in phi1 18.047 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi1 18.047 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1 18.047 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 18.047 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 18.047 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.048 * [backup-simplify]: Simplify 0.5 into 0.5 18.048 * [taylor]: Taking taylor expansion of phi1 in phi1 18.048 * [backup-simplify]: Simplify 0 into 0 18.048 * [backup-simplify]: Simplify 1 into 1 18.048 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 18.048 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.048 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 18.048 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 18.048 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.048 * [backup-simplify]: Simplify 0.5 into 0.5 18.048 * [taylor]: Taking taylor expansion of phi2 in phi1 18.048 * [backup-simplify]: Simplify phi2 into phi2 18.048 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.048 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.048 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.048 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi1 18.048 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 18.048 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 18.048 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.048 * [backup-simplify]: Simplify 0.5 into 0.5 18.048 * [taylor]: Taking taylor expansion of phi1 in phi1 18.048 * [backup-simplify]: Simplify 0 into 0 18.048 * [backup-simplify]: Simplify 1 into 1 18.049 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 18.049 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.049 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 18.049 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 18.049 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.049 * [backup-simplify]: Simplify 0.5 into 0.5 18.049 * [taylor]: Taking taylor expansion of phi2 in phi1 18.049 * [backup-simplify]: Simplify phi2 into phi2 18.049 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.049 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.049 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.049 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.049 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.049 * [backup-simplify]: Simplify (- 0) into 0 18.049 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.049 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 18.050 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.050 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.050 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.050 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 18.050 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 18.050 * [backup-simplify]: Simplify (+ (* (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)))) 18.050 * [taylor]: Taking taylor expansion of (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) in phi2 18.050 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi2 18.050 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2 18.050 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 18.050 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 18.050 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.050 * [backup-simplify]: Simplify 0.5 into 0.5 18.050 * [taylor]: Taking taylor expansion of phi1 in phi2 18.050 * [backup-simplify]: Simplify phi1 into phi1 18.050 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.050 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.050 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.050 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 18.050 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 18.050 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.050 * [backup-simplify]: Simplify 0.5 into 0.5 18.050 * [taylor]: Taking taylor expansion of phi2 in phi2 18.050 * [backup-simplify]: Simplify 0 into 0 18.051 * [backup-simplify]: Simplify 1 into 1 18.051 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 18.051 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.051 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 18.051 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 18.051 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 18.051 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.051 * [backup-simplify]: Simplify 0.5 into 0.5 18.051 * [taylor]: Taking taylor expansion of phi1 in phi2 18.051 * [backup-simplify]: Simplify phi1 into phi1 18.051 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.051 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.051 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.051 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 18.051 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 18.051 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.051 * [backup-simplify]: Simplify 0.5 into 0.5 18.051 * [taylor]: Taking taylor expansion of phi2 in phi2 18.051 * [backup-simplify]: Simplify 0 into 0 18.051 * [backup-simplify]: Simplify 1 into 1 18.052 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 18.052 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.052 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.052 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.052 * [backup-simplify]: Simplify (- 0) into 0 18.052 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.052 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 18.052 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.052 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.052 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.052 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 18.053 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 18.053 * [backup-simplify]: Simplify (+ (* (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)))) 18.053 * [taylor]: Taking taylor expansion of (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) in phi2 18.053 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi2 18.053 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2 18.053 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 18.053 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 18.053 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.053 * [backup-simplify]: Simplify 0.5 into 0.5 18.053 * [taylor]: Taking taylor expansion of phi1 in phi2 18.053 * [backup-simplify]: Simplify phi1 into phi1 18.053 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.053 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.053 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.053 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 18.053 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 18.053 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.053 * [backup-simplify]: Simplify 0.5 into 0.5 18.053 * [taylor]: Taking taylor expansion of phi2 in phi2 18.053 * [backup-simplify]: Simplify 0 into 0 18.053 * [backup-simplify]: Simplify 1 into 1 18.053 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 18.053 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.054 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 18.054 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 18.054 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 18.054 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.054 * [backup-simplify]: Simplify 0.5 into 0.5 18.054 * [taylor]: Taking taylor expansion of phi1 in phi2 18.054 * [backup-simplify]: Simplify phi1 into phi1 18.054 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.054 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.054 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.054 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 18.054 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 18.054 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.054 * [backup-simplify]: Simplify 0.5 into 0.5 18.054 * [taylor]: Taking taylor expansion of phi2 in phi2 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 18.054 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.054 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.054 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.055 * [backup-simplify]: Simplify (- 0) into 0 18.055 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.055 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 18.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.055 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.055 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 18.055 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 18.055 * [backup-simplify]: Simplify (+ (* (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)))) 18.056 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) into (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) 18.056 * [taylor]: Taking taylor expansion of (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) in phi1 18.056 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi1 18.056 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1 18.056 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 18.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 18.056 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.056 * [backup-simplify]: Simplify 0.5 into 0.5 18.056 * [taylor]: Taking taylor expansion of phi1 in phi1 18.056 * [backup-simplify]: Simplify 0 into 0 18.056 * [backup-simplify]: Simplify 1 into 1 18.056 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 18.056 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.056 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 18.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 18.056 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.056 * [backup-simplify]: Simplify 0.5 into 0.5 18.056 * [taylor]: Taking taylor expansion of phi2 in phi1 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 (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.057 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.057 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi1 18.057 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 18.057 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 18.057 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.057 * [backup-simplify]: Simplify 0.5 into 0.5 18.057 * [taylor]: Taking taylor expansion of phi1 in phi1 18.057 * [backup-simplify]: Simplify 0 into 0 18.057 * [backup-simplify]: Simplify 1 into 1 18.057 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 18.057 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.057 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 18.057 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 18.057 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.057 * [backup-simplify]: Simplify 0.5 into 0.5 18.057 * [taylor]: Taking taylor expansion of phi2 in phi1 18.057 * [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 (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.058 * [backup-simplify]: Simplify (- 0) into 0 18.058 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 18.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.058 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 18.058 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 18.058 * [backup-simplify]: Simplify (+ (* (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)))) 18.059 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) into (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) 18.059 * [backup-simplify]: Simplify (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) into (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) 18.059 * [backup-simplify]: Simplify (+ 0) into 0 18.060 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.060 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.061 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.061 * [backup-simplify]: Simplify (- 0) into 0 18.061 * [backup-simplify]: Simplify (+ 0 0) into 0 18.061 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.061 * [backup-simplify]: Simplify (+ 0) into 0 18.062 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.062 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.063 * [backup-simplify]: Simplify (+ 0 0) into 0 18.063 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.063 * [backup-simplify]: Simplify (- 0) into 0 18.063 * [backup-simplify]: Simplify (+ 0 0) into 0 18.064 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (* 0 (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))))) into 0 18.064 * [taylor]: Taking taylor expansion of 0 in phi1 18.064 * [backup-simplify]: Simplify 0 into 0 18.064 * [backup-simplify]: Simplify 0 into 0 18.064 * [backup-simplify]: Simplify (+ 0) into 0 18.064 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.065 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.065 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.066 * [backup-simplify]: Simplify (- 0) into 0 18.066 * [backup-simplify]: Simplify (+ 0 0) into 0 18.066 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.066 * [backup-simplify]: Simplify (+ 0) into 0 18.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.067 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.067 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.067 * [backup-simplify]: Simplify (+ 0 0) into 0 18.068 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.068 * [backup-simplify]: Simplify (- 0) into 0 18.068 * [backup-simplify]: Simplify (+ 0 0) into 0 18.068 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (* 0 (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))))) into 0 18.068 * [backup-simplify]: Simplify 0 into 0 18.069 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.069 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.070 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.070 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.070 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.071 * [backup-simplify]: Simplify (- 0) into 0 18.071 * [backup-simplify]: Simplify (+ 0 0) into 0 18.071 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.072 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.072 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.073 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.073 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.077 * [backup-simplify]: Simplify (+ 0 0) into 0 18.078 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.078 * [backup-simplify]: Simplify (- 0) into 0 18.079 * [backup-simplify]: Simplify (+ 0 0) into 0 18.080 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (+ (* 0 0) (* 0 (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))))))) into 0 18.080 * [taylor]: Taking taylor expansion of 0 in phi1 18.080 * [backup-simplify]: Simplify 0 into 0 18.080 * [backup-simplify]: Simplify 0 into 0 18.080 * [backup-simplify]: Simplify 0 into 0 18.080 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.081 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.081 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.081 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.082 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.082 * [backup-simplify]: Simplify (- 0) into 0 18.082 * [backup-simplify]: Simplify (+ 0 0) into 0 18.082 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.083 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.083 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.084 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.084 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.085 * [backup-simplify]: Simplify (+ 0 0) into 0 18.085 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.085 * [backup-simplify]: Simplify (- 0) into 0 18.085 * [backup-simplify]: Simplify (+ 0 0) into 0 18.086 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (+ (* 0 0) (* 0 (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))))))) into 0 18.086 * [backup-simplify]: Simplify 0 into 0 18.087 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 18.087 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 18.087 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.088 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 18.089 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 18.089 * [backup-simplify]: Simplify (- 0) into 0 18.089 * [backup-simplify]: Simplify (+ 0 0) into 0 18.090 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0 18.090 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 18.091 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 18.091 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.092 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 18.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 18.092 * [backup-simplify]: Simplify (+ 0 0) into 0 18.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2)))))) into 0 18.093 * [backup-simplify]: Simplify (- 0) into 0 18.093 * [backup-simplify]: Simplify (+ 0 0) into 0 18.094 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))))))) into 0 18.094 * [taylor]: Taking taylor expansion of 0 in phi1 18.094 * [backup-simplify]: Simplify 0 into 0 18.094 * [backup-simplify]: Simplify 0 into 0 18.095 * [backup-simplify]: Simplify (pow (- (* (cos (/ 0.5 (/ 1 phi1))) (cos (/ 0.5 (/ 1 phi2)))) (* (sin (/ 0.5 (/ 1 phi1))) (sin (/ 0.5 (/ 1 phi2))))) 2) into (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2) 18.095 * [backup-simplify]: Simplify (pow (- (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5))) (* (sin (* 0.5 (/ 1 (- phi2)))) (sin (* 0.5 (/ 1 (- phi1)))))) 2) into (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 18.095 * [approximate]: Taking taylor expansion of (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) in (phi2 phi1) around 0 18.095 * [taylor]: Taking taylor expansion of (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) in phi1 18.095 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 18.095 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 18.095 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 18.095 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 18.095 * [taylor]: Taking taylor expansion of -0.5 in phi1 18.095 * [backup-simplify]: Simplify -0.5 into -0.5 18.095 * [taylor]: Taking taylor expansion of phi2 in phi1 18.095 * [backup-simplify]: Simplify phi2 into phi2 18.095 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 18.095 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 18.095 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 18.095 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 18.095 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 18.095 * [taylor]: Taking taylor expansion of -0.5 in phi1 18.095 * [backup-simplify]: Simplify -0.5 into -0.5 18.095 * [taylor]: Taking taylor expansion of phi1 in phi1 18.095 * [backup-simplify]: Simplify 0 into 0 18.095 * [backup-simplify]: Simplify 1 into 1 18.096 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 18.096 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 18.096 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 18.096 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 18.096 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 18.096 * [taylor]: Taking taylor expansion of -0.5 in phi1 18.096 * [backup-simplify]: Simplify -0.5 into -0.5 18.096 * [taylor]: Taking taylor expansion of phi2 in phi1 18.096 * [backup-simplify]: Simplify phi2 into phi2 18.096 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 18.096 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 18.096 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 18.096 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 18.096 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 18.096 * [taylor]: Taking taylor expansion of -0.5 in phi1 18.096 * [backup-simplify]: Simplify -0.5 into -0.5 18.096 * [taylor]: Taking taylor expansion of phi1 in phi1 18.096 * [backup-simplify]: Simplify 0 into 0 18.096 * [backup-simplify]: Simplify 1 into 1 18.097 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 18.097 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 18.097 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 18.097 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 18.097 * [backup-simplify]: Simplify (- 0) into 0 18.097 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 18.097 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 18.097 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 18.097 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 18.097 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 18.097 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 18.098 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 18.098 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (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)))) 18.098 * [taylor]: Taking taylor expansion of (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) in phi2 18.098 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 18.098 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 18.098 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 18.098 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 18.098 * [taylor]: Taking taylor expansion of -0.5 in phi2 18.098 * [backup-simplify]: Simplify -0.5 into -0.5 18.098 * [taylor]: Taking taylor expansion of phi2 in phi2 18.098 * [backup-simplify]: Simplify 0 into 0 18.098 * [backup-simplify]: Simplify 1 into 1 18.098 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 18.098 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 18.098 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 18.098 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 18.098 * [taylor]: Taking taylor expansion of -0.5 in phi2 18.098 * [backup-simplify]: Simplify -0.5 into -0.5 18.098 * [taylor]: Taking taylor expansion of phi1 in phi2 18.098 * [backup-simplify]: Simplify phi1 into phi1 18.098 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 18.099 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 18.099 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 18.099 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 18.099 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 18.099 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 18.099 * [taylor]: Taking taylor expansion of -0.5 in phi2 18.099 * [backup-simplify]: Simplify -0.5 into -0.5 18.099 * [taylor]: Taking taylor expansion of phi2 in phi2 18.099 * [backup-simplify]: Simplify 0 into 0 18.099 * [backup-simplify]: Simplify 1 into 1 18.099 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 18.099 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 18.099 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 18.099 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 18.099 * [taylor]: Taking taylor expansion of -0.5 in phi2 18.099 * [backup-simplify]: Simplify -0.5 into -0.5 18.099 * [taylor]: Taking taylor expansion of phi1 in phi2 18.099 * [backup-simplify]: Simplify phi1 into phi1 18.099 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 18.099 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 18.099 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 18.099 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 18.099 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 18.100 * [backup-simplify]: Simplify (- 0) into 0 18.100 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 18.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 18.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 18.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 18.100 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 18.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 18.100 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 18.100 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (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)))) 18.100 * [taylor]: Taking taylor expansion of (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) in phi2 18.101 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 18.101 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 18.101 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 18.101 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 18.101 * [taylor]: Taking taylor expansion of -0.5 in phi2 18.101 * [backup-simplify]: Simplify -0.5 into -0.5 18.101 * [taylor]: Taking taylor expansion of phi2 in phi2 18.101 * [backup-simplify]: Simplify 0 into 0 18.101 * [backup-simplify]: Simplify 1 into 1 18.101 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 18.101 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 18.101 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 18.101 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 18.101 * [taylor]: Taking taylor expansion of -0.5 in phi2 18.101 * [backup-simplify]: Simplify -0.5 into -0.5 18.101 * [taylor]: Taking taylor expansion of phi1 in phi2 18.101 * [backup-simplify]: Simplify phi1 into phi1 18.101 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 18.101 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 18.101 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 18.101 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 18.101 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 18.101 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 18.101 * [taylor]: Taking taylor expansion of -0.5 in phi2 18.101 * [backup-simplify]: Simplify -0.5 into -0.5 18.101 * [taylor]: Taking taylor expansion of phi2 in phi2 18.101 * [backup-simplify]: Simplify 0 into 0 18.101 * [backup-simplify]: Simplify 1 into 1 18.102 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 18.102 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 18.102 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 18.102 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 18.102 * [taylor]: Taking taylor expansion of -0.5 in phi2 18.102 * [backup-simplify]: Simplify -0.5 into -0.5 18.102 * [taylor]: Taking taylor expansion of phi1 in phi2 18.102 * [backup-simplify]: Simplify phi1 into phi1 18.102 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 18.102 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 18.102 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 18.102 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 18.102 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 18.102 * [backup-simplify]: Simplify (- 0) into 0 18.102 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 18.103 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 18.103 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 18.103 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 18.103 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 18.103 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 18.103 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 18.103 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (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)))) 18.104 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 18.104 * [taylor]: Taking taylor expansion of (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) in phi1 18.104 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 18.104 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 18.104 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 18.104 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 18.104 * [taylor]: Taking taylor expansion of -0.5 in phi1 18.104 * [backup-simplify]: Simplify -0.5 into -0.5 18.104 * [taylor]: Taking taylor expansion of phi2 in phi1 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 (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 18.104 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 18.104 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 18.104 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 18.104 * [taylor]: Taking taylor expansion of -0.5 in phi1 18.104 * [backup-simplify]: Simplify -0.5 into -0.5 18.104 * [taylor]: Taking taylor expansion of phi1 in phi1 18.104 * [backup-simplify]: Simplify 0 into 0 18.104 * [backup-simplify]: Simplify 1 into 1 18.104 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 18.104 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 18.104 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 18.104 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 18.104 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 18.105 * [taylor]: Taking taylor expansion of -0.5 in phi1 18.105 * [backup-simplify]: Simplify -0.5 into -0.5 18.105 * [taylor]: Taking taylor expansion of phi2 in phi1 18.105 * [backup-simplify]: Simplify phi2 into phi2 18.105 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 18.105 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 18.105 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 18.105 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 18.105 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 18.105 * [taylor]: Taking taylor expansion of -0.5 in phi1 18.105 * [backup-simplify]: Simplify -0.5 into -0.5 18.105 * [taylor]: Taking taylor expansion of phi1 in phi1 18.105 * [backup-simplify]: Simplify 0 into 0 18.105 * [backup-simplify]: Simplify 1 into 1 18.105 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 18.105 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 18.105 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 18.105 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 18.106 * [backup-simplify]: Simplify (- 0) into 0 18.106 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 18.106 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 18.106 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 18.106 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 18.106 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 18.106 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 18.106 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 18.106 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (- (* (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)))) 18.107 * [backup-simplify]: Simplify (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 18.107 * [backup-simplify]: Simplify (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) into (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 18.107 * [backup-simplify]: Simplify (+ 0) into 0 18.108 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 18.108 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 18.108 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.109 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 18.109 * [backup-simplify]: Simplify (- 0) into 0 18.109 * [backup-simplify]: Simplify (+ 0 0) into 0 18.109 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 18.109 * [backup-simplify]: Simplify (+ 0) into 0 18.110 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 18.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 18.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.111 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 18.111 * [backup-simplify]: Simplify (+ 0 0) into 0 18.111 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 18.111 * [backup-simplify]: Simplify (- 0) into 0 18.112 * [backup-simplify]: Simplify (+ 0 0) into 0 18.112 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 18.112 * [taylor]: Taking taylor expansion of 0 in phi1 18.112 * [backup-simplify]: Simplify 0 into 0 18.112 * [backup-simplify]: Simplify 0 into 0 18.112 * [backup-simplify]: Simplify (+ 0) into 0 18.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 18.113 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 18.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 18.114 * [backup-simplify]: Simplify (- 0) into 0 18.114 * [backup-simplify]: Simplify (+ 0 0) into 0 18.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 18.114 * [backup-simplify]: Simplify (+ 0) into 0 18.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 18.115 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 18.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 18.116 * [backup-simplify]: Simplify (+ 0 0) into 0 18.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 18.117 * [backup-simplify]: Simplify (- 0) into 0 18.117 * [backup-simplify]: Simplify (+ 0 0) into 0 18.118 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 18.118 * [backup-simplify]: Simplify 0 into 0 18.119 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.120 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.120 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.121 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.121 * [backup-simplify]: Simplify (- 0) into 0 18.122 * [backup-simplify]: Simplify (+ 0 0) into 0 18.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 18.123 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.124 * [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 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 18.127 * [backup-simplify]: Simplify (- 0) into 0 18.127 * [backup-simplify]: Simplify (+ 0 0) into 0 18.128 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 18.128 * [taylor]: Taking taylor expansion of 0 in phi1 18.128 * [backup-simplify]: Simplify 0 into 0 18.128 * [backup-simplify]: Simplify 0 into 0 18.128 * [backup-simplify]: Simplify 0 into 0 18.129 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.130 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.130 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.131 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.131 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.132 * [backup-simplify]: Simplify (- 0) into 0 18.132 * [backup-simplify]: Simplify (+ 0 0) into 0 18.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 18.134 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.134 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.135 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.135 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.136 * [backup-simplify]: Simplify (+ 0 0) into 0 18.137 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 18.137 * [backup-simplify]: Simplify (- 0) into 0 18.138 * [backup-simplify]: Simplify (+ 0 0) into 0 18.139 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 18.139 * [backup-simplify]: Simplify 0 into 0 18.140 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 18.141 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 18.141 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.143 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 18.143 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 18.144 * [backup-simplify]: Simplify (- 0) into 0 18.144 * [backup-simplify]: Simplify (+ 0 0) into 0 18.145 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0 18.146 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 18.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 18.147 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.149 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 18.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 18.150 * [backup-simplify]: Simplify (+ 0 0) into 0 18.151 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0 18.151 * [backup-simplify]: Simplify (- 0) into 0 18.151 * [backup-simplify]: Simplify (+ 0 0) into 0 18.153 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) into 0 18.153 * [taylor]: Taking taylor expansion of 0 in phi1 18.153 * [backup-simplify]: Simplify 0 into 0 18.153 * [backup-simplify]: Simplify 0 into 0 18.154 * [backup-simplify]: Simplify (pow (- (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1)))))) 2) into (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) 18.154 * * * [progress]: simplifying candidates 18.159 * [simplify]: Simplifying: (log (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (* (cbrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))) (sqrt (cbrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt 1) (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (- (pow (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 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 (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 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 (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 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 (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (+ (* (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (+ (* (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2)))) (sqrt (+ (* (- (pow (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (* (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3)))))) (sqrt (* (+ (* (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 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phi2 phi1))) 2) lambda1)))) (* (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (+ (* (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ phi1 phi2) (+ phi1 phi2)))) (sqrt (+ (* (- (pow (* 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(* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))))))) (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))))))) (- 1 (+ (* 0.5 (* phi2 phi1)) (* 0.25 (pow phi2 2)))) (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) 18.174 * * [simplify]: Extracting # 0 : cost 0 18.174 * * [simplify]: Extracting # 1 : cost 0 18.174 * * [simplify]: Extracting # 2 : cost 0 18.175 * * [simplify]: Extracting # 3 : cost 0 18.175 * * [simplify]: Extracting # 4 : cost 0 18.176 * * [simplify]: Extracting # 5 : cost 0 18.176 * * [simplify]: Extracting # 6 : cost 0 18.177 * * [simplify]: Extracting # 7 : cost 0 18.177 * * [simplify]: Extracting # 8 : cost 0 18.178 * * [simplify]: Extracting # 9 : cost 0 18.178 * * [simplify]: Extracting # 10 : cost 0 18.178 * * [simplify]: Extracting # 11 : cost 0 18.179 * * [simplify]: Extracting # 12 : cost 0 18.179 * * [simplify]: Extracting # 13 : cost 0 18.180 * * [simplify]: Extracting # 14 : cost 0 18.180 * * [simplify]: iteration 0 : 313 enodes (cost 7871 ) 18.314 * * [simplify]: Extracting # 0 : cost 0 18.315 * * [simplify]: Extracting # 1 : cost 0 18.320 * * [simplify]: Extracting # 2 : cost 0 18.321 * * [simplify]: Extracting # 3 : cost 0 18.322 * * [simplify]: Extracting # 4 : cost 0 18.323 * * [simplify]: Extracting # 5 : cost 0 18.324 * * [simplify]: Extracting # 6 : cost 0 18.325 * * [simplify]: Extracting # 7 : cost 0 18.326 * * [simplify]: iteration 1 : 813 enodes (cost 6698 ) 18.881 * * [simplify]: Extracting # 0 : cost 0 18.888 * * [simplify]: Extracting # 1 : cost 0 18.898 * * [simplify]: Extracting # 2 : cost 0 18.906 * * [simplify]: Extracting # 3 : cost 0 18.911 * * [simplify]: Extracting # 4 : cost 0 18.916 * * [simplify]: iteration 2 : 3315 enodes (cost 6531 ) 20.236 * * [simplify]: Extracting # 0 : cost 0 20.245 * * [simplify]: Extracting # 1 : cost 0 20.258 * * [simplify]: Extracting # 2 : cost 0 20.269 * * [simplify]: Extracting # 3 : cost 0 20.276 * * [simplify]: Extracting # 4 : cost 0 20.283 * * [simplify]: iteration done: 5002 enodes (cost 6527 ) 20.285 * [simplify]: Simplified to: (log (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* 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phi1))) 2) lambda1))))) (pow (- phi1 phi2) (+ 3 1)))) (sqrt (- (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) 1/2 (sqrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (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)))) (pow (cos (* 0.5 (+ phi2 phi1))) 3) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (exp (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (log (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (exp (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (cbrt (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (cbrt (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (cbrt (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (pow (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 3) (sqrt (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (sqrt (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (- (pow (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (+ (* (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 4) (* (+ (pow lambda1 2) (pow lambda2 2)) (+ (pow lambda1 2) (pow lambda2 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (- (* (pow (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 4) (* (+ (pow lambda1 2) (pow lambda2 2)) (+ (pow lambda1 2) (pow lambda2 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (pow lambda2 2)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (pow lambda2 2)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (log (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) 2) (* (log (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) 2) 2 (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (* (cbrt 2) (cbrt 2))) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (sqrt 2)) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (pow (cbrt (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) 4) (pow (cbrt (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) 2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 1 (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (* (log (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) 2) (exp (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (cbrt (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (cbrt (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2))) (cbrt (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 6) (fabs (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (fabs (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- lambda2 lambda1) (- (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) phi1))) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) 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 (cos (* 0.5 phi2)) 2)) (+ (pow lambda1 2) (pow lambda2 2))) (* (pow (sin (* 0.5 phi2)) 2) (+ (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (* (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 2) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ (* (pow (sin (* 0.5 phi2)) 2) (+ (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) (- (* (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) (+ (pow lambda1 2) (pow lambda2 2))) (+ (* (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) (+ (* (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) (- 1 (+ (* 0.5 (* phi2 phi1)) (* 0.25 (pow phi2 2)))) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) 20.287 * * * [progress]: adding candidates to table 21.443 * * [progress]: iteration 4 / 4 21.443 * * * [progress]: picking best candidate 21.517 * * * * [pick]: Picked # 21.517 * * * [progress]: localizing error 21.598 * * * [progress]: generating rewritten candidates 21.599 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2 2 1) 22.302 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1) 22.914 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 2 1 1 1 2 2 2 1 1) 22.925 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1 1 1 2 2 2 1 1) 22.941 * * * [progress]: generating series expansions 22.941 * * * * [progress]: [ 1 / 4 ] generating series at (2 2 2 1) 22.943 * [backup-simplify]: Simplify (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) 22.943 * [approximate]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in (phi2 phi1 lambda1 lambda2) around 0 22.943 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in lambda2 22.943 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda2 22.943 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in lambda2 22.943 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2 22.943 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 22.943 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 22.943 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 22.943 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.943 * [backup-simplify]: Simplify 0.5 into 0.5 22.943 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.943 * [backup-simplify]: Simplify phi2 into phi2 22.943 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.943 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.943 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.943 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 22.943 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 22.944 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 22.944 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2 22.944 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 22.944 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 22.944 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 22.944 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.944 * [backup-simplify]: Simplify 0.5 into 0.5 22.944 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.944 * [backup-simplify]: Simplify phi1 into phi1 22.944 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 22.944 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 22.944 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 22.944 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 22.944 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 22.944 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 22.944 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 22.944 * [taylor]: Taking taylor expansion of lambda1 in lambda2 22.944 * [backup-simplify]: Simplify lambda1 into lambda1 22.944 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in lambda2 22.944 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 22.944 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.944 * [backup-simplify]: Simplify phi2 into phi2 22.944 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda2 22.944 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 22.944 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 22.944 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 22.944 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 22.944 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.944 * [backup-simplify]: Simplify 0.5 into 0.5 22.944 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.944 * [backup-simplify]: Simplify phi2 into phi2 22.944 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.944 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.944 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.945 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 22.945 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 22.945 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 22.945 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 22.945 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 22.945 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.945 * [backup-simplify]: Simplify 0 into 0 22.945 * [backup-simplify]: Simplify 1 into 1 22.945 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 22.945 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 22.945 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 22.945 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.945 * [backup-simplify]: Simplify 0.5 into 0.5 22.945 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.945 * [backup-simplify]: Simplify phi1 into phi1 22.945 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 22.945 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 22.945 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 22.945 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 22.945 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 22.945 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 22.945 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda2 22.945 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 22.945 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 22.945 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 22.945 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 22.945 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.945 * [backup-simplify]: Simplify 0.5 into 0.5 22.945 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.945 * [backup-simplify]: Simplify phi2 into phi2 22.945 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.945 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.945 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.946 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 22.946 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 22.946 * [backup-simplify]: Simplify (- 0) into 0 22.946 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 22.946 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 22.946 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 22.946 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 22.946 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 22.946 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.946 * [backup-simplify]: Simplify 0.5 into 0.5 22.946 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.946 * [backup-simplify]: Simplify phi1 into phi1 22.946 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 22.947 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 22.947 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 22.947 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 22.947 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 22.947 * [backup-simplify]: Simplify (- 0) into 0 22.947 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 22.947 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 22.947 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.947 * [backup-simplify]: Simplify 0 into 0 22.947 * [backup-simplify]: Simplify 1 into 1 22.947 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda2 22.947 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 22.947 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.947 * [backup-simplify]: Simplify phi1 into phi1 22.947 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2 22.947 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 22.947 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 22.947 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 22.947 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.947 * [backup-simplify]: Simplify 0.5 into 0.5 22.947 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.947 * [backup-simplify]: Simplify phi2 into phi2 22.947 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.947 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.948 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.948 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 22.948 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 22.948 * [backup-simplify]: Simplify (- 0) into 0 22.948 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 22.948 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2 22.948 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 22.948 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 22.948 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 22.948 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.948 * [backup-simplify]: Simplify 0.5 into 0.5 22.948 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.948 * [backup-simplify]: Simplify phi1 into phi1 22.948 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 22.948 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 22.948 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 22.948 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 22.948 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 22.949 * [backup-simplify]: Simplify (- 0) into 0 22.949 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 22.949 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 22.949 * [taylor]: Taking taylor expansion of lambda1 in lambda2 22.949 * [backup-simplify]: Simplify lambda1 into lambda1 22.949 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 22.949 * [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 22.949 * [taylor]: Taking taylor expansion of 2 in lambda2 22.949 * [backup-simplify]: Simplify 2 into 2 22.949 * [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 22.949 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 22.949 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 22.949 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.949 * [backup-simplify]: Simplify 0.5 into 0.5 22.949 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.949 * [backup-simplify]: Simplify phi2 into phi2 22.949 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.949 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.949 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.949 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 22.949 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 22.949 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 22.949 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.949 * [backup-simplify]: Simplify 0.5 into 0.5 22.949 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.949 * [backup-simplify]: Simplify phi2 into phi2 22.949 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.949 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.949 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.949 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 22.950 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 22.950 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 22.950 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.950 * [backup-simplify]: Simplify 0.5 into 0.5 22.950 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.950 * [backup-simplify]: Simplify phi1 into phi1 22.950 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 22.950 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 22.950 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 22.950 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 22.950 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 22.950 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 22.950 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.950 * [backup-simplify]: Simplify 0.5 into 0.5 22.950 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.950 * [backup-simplify]: Simplify phi1 into phi1 22.950 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 22.950 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 22.950 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 22.950 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 22.950 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.950 * [backup-simplify]: Simplify 0 into 0 22.950 * [backup-simplify]: Simplify 1 into 1 22.950 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 22.950 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 22.950 * [taylor]: Taking taylor expansion of 2 in lambda2 22.950 * [backup-simplify]: Simplify 2 into 2 22.950 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 22.950 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.950 * [backup-simplify]: Simplify phi2 into phi2 22.950 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.950 * [backup-simplify]: Simplify phi1 into phi1 22.950 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 22.950 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda2 22.950 * [taylor]: Taking taylor expansion of 2 in lambda2 22.950 * [backup-simplify]: Simplify 2 into 2 22.950 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda2 22.950 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 22.950 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 22.950 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.950 * [backup-simplify]: Simplify 0.5 into 0.5 22.950 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.950 * [backup-simplify]: Simplify phi2 into phi2 22.950 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.951 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.951 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.951 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda2 22.951 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 22.951 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 22.951 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.951 * [backup-simplify]: Simplify 0.5 into 0.5 22.951 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.951 * [backup-simplify]: Simplify phi2 into phi2 22.951 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.951 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.951 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.951 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda2 22.951 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 22.951 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 22.951 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.951 * [backup-simplify]: Simplify 0.5 into 0.5 22.951 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.951 * [backup-simplify]: Simplify phi1 into phi1 22.951 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 22.951 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 22.951 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 22.951 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda2 22.951 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 22.951 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 22.951 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.951 * [backup-simplify]: Simplify 0.5 into 0.5 22.951 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.951 * [backup-simplify]: Simplify phi1 into phi1 22.951 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 22.951 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 22.951 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 22.951 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 22.951 * [taylor]: Taking taylor expansion of lambda1 in lambda2 22.951 * [backup-simplify]: Simplify lambda1 into lambda1 22.951 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 22.951 * [taylor]: Taking taylor expansion of 2 in lambda2 22.951 * [backup-simplify]: Simplify 2 into 2 22.951 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 22.951 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.952 * [backup-simplify]: Simplify 0 into 0 22.952 * [backup-simplify]: Simplify 1 into 1 22.952 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 22.952 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 22.952 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 22.952 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 22.952 * [taylor]: Taking taylor expansion of 0.5 in lambda2 22.952 * [backup-simplify]: Simplify 0.5 into 0.5 22.952 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 22.952 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.952 * [backup-simplify]: Simplify phi2 into phi2 22.952 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.952 * [backup-simplify]: Simplify phi1 into phi1 22.952 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 22.952 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 22.952 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 22.952 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 22.952 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 22.952 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 22.952 * [backup-simplify]: Simplify (- 0) into 0 22.953 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 22.953 * [taylor]: Taking taylor expansion of lambda1 in lambda2 22.953 * [backup-simplify]: Simplify lambda1 into lambda1 22.953 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2) 22.953 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 22.953 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 22.953 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) 22.953 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 22.953 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 22.953 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 22.953 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 22.954 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 22.954 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 22.954 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 22.954 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) 22.954 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 22.955 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2)) 22.955 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2)) 22.956 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))) into (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 22.957 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) 22.957 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 22.957 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 22.957 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 22.957 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 22.957 * [backup-simplify]: Simplify (- 0) into 0 22.957 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 22.957 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 22.957 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 22.957 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 22.957 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 22.958 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 22.958 * [backup-simplify]: Simplify (- 0) into 0 22.958 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 22.958 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 22.958 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 22.958 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 22.958 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 22.958 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2)) 22.958 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) 22.959 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 22.959 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 22.959 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) 22.959 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 22.960 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 22.960 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 22.960 * [backup-simplify]: Simplify (* 2 0) into 0 22.961 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) 0) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) 22.961 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) 22.962 * [backup-simplify]: Simplify (+ 0 (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) 22.962 * [backup-simplify]: Simplify (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) 22.964 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) 22.969 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) into (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) 22.969 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 22.969 * [backup-simplify]: Simplify (+ 0) into 0 22.970 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 22.970 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 22.971 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.971 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 22.972 * [backup-simplify]: Simplify (+ 0 0) into 0 22.972 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 22.972 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 22.972 * [backup-simplify]: Simplify (+ 0) into 0 22.973 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 22.973 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 22.973 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.974 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 22.974 * [backup-simplify]: Simplify (+ 0 0) into 0 22.974 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0 22.974 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 22.974 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 22.975 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 22.975 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 22.975 * [backup-simplify]: Simplify (+ 0) into 0 22.975 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 22.975 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 22.976 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.976 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 22.976 * [backup-simplify]: Simplify (- 0) into 0 22.977 * [backup-simplify]: Simplify (+ 0 0) into 0 22.977 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 22.977 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 22.977 * [backup-simplify]: Simplify (+ 0) into 0 22.978 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 22.978 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 22.978 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.979 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 22.979 * [backup-simplify]: Simplify (- 0) into 0 22.979 * [backup-simplify]: Simplify (+ 0 0) into 0 22.979 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 22.980 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 22.980 * [backup-simplify]: Simplify (+ 0 0) into 0 22.980 * [backup-simplify]: Simplify (+ 0 0) into 0 22.980 * [backup-simplify]: Simplify (+ 0 0) into 0 22.981 * [backup-simplify]: Simplify (+ 0 0) into 0 22.981 * [backup-simplify]: Simplify (+ 0 0) into 0 22.981 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 22.981 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 22.981 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 22.981 * [backup-simplify]: Simplify (+ 0) into 0 22.982 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 22.982 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 22.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.983 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 22.983 * [backup-simplify]: Simplify (+ 0 0) into 0 22.983 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0 22.983 * [backup-simplify]: Simplify (+ 0) into 0 22.984 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 22.984 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 22.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.985 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 22.986 * [backup-simplify]: Simplify (- 0) into 0 22.986 * [backup-simplify]: Simplify (+ 0 0) into 0 22.986 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 22.987 * [backup-simplify]: Simplify (+ 0) into 0 22.987 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 22.987 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 22.988 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.988 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 22.988 * [backup-simplify]: Simplify (+ 0 0) into 0 22.988 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0 22.989 * [backup-simplify]: Simplify (+ 0) into 0 22.989 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 22.989 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 22.990 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.990 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 22.990 * [backup-simplify]: Simplify (- 0) into 0 22.991 * [backup-simplify]: Simplify (+ 0 0) into 0 22.991 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0 22.991 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into 0 22.992 * [backup-simplify]: Simplify (+ 0) into 0 22.992 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 22.992 * [backup-simplify]: Simplify (+ 0 0) into 0 22.993 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 22.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.993 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 22.994 * [backup-simplify]: Simplify (- 0) into 0 22.994 * [backup-simplify]: Simplify (+ 0 0) into 0 22.994 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 22.994 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 22.995 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 22.995 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 22.995 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 22.995 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 22.996 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 22.996 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 22.996 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 22.998 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))))) into (* -1 (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))))) 22.998 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in lambda1 22.998 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda1 22.998 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in lambda1 22.998 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda1 22.998 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1 22.998 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 22.998 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 22.998 * [taylor]: Taking taylor expansion of 0.5 in lambda1 22.998 * [backup-simplify]: Simplify 0.5 into 0.5 22.998 * [taylor]: Taking taylor expansion of phi2 in lambda1 22.998 * [backup-simplify]: Simplify phi2 into phi2 22.998 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.998 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.998 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.998 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 22.998 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 22.998 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 22.998 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda1 22.999 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1 22.999 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 22.999 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 22.999 * [taylor]: Taking taylor expansion of 0.5 in lambda1 22.999 * [backup-simplify]: Simplify 0.5 into 0.5 22.999 * [taylor]: Taking taylor expansion of phi1 in lambda1 22.999 * [backup-simplify]: Simplify phi1 into phi1 22.999 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 22.999 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 22.999 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 22.999 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 22.999 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 22.999 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 22.999 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 22.999 * [taylor]: Taking taylor expansion of lambda1 in lambda1 22.999 * [backup-simplify]: Simplify 0 into 0 22.999 * [backup-simplify]: Simplify 1 into 1 22.999 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in lambda1 22.999 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 22.999 * [taylor]: Taking taylor expansion of phi2 in lambda1 22.999 * [backup-simplify]: Simplify phi2 into phi2 22.999 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda1 22.999 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda1 22.999 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1 22.999 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 22.999 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 22.999 * [taylor]: Taking taylor expansion of 0.5 in lambda1 22.999 * [backup-simplify]: Simplify 0.5 into 0.5 22.999 * [taylor]: Taking taylor expansion of phi2 in lambda1 22.999 * [backup-simplify]: Simplify phi2 into phi2 22.999 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.999 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.999 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.000 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 23.000 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 23.000 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 23.000 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda1 23.000 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.000 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.000 * [backup-simplify]: Simplify lambda2 into lambda2 23.000 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1 23.000 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 23.000 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 23.000 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.000 * [backup-simplify]: Simplify 0.5 into 0.5 23.000 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.000 * [backup-simplify]: Simplify phi1 into phi1 23.000 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.000 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.000 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.000 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 23.001 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 23.001 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 23.001 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda1 23.001 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda1 23.001 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1 23.001 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 23.001 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 23.001 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.001 * [backup-simplify]: Simplify 0.5 into 0.5 23.001 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.001 * [backup-simplify]: Simplify phi2 into phi2 23.001 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.001 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.001 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.001 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 23.001 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 23.002 * [backup-simplify]: Simplify (- 0) into 0 23.002 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 23.002 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda1 23.002 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1 23.002 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 23.002 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 23.002 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.002 * [backup-simplify]: Simplify 0.5 into 0.5 23.002 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.002 * [backup-simplify]: Simplify phi1 into phi1 23.003 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.003 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.003 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.003 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.003 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.003 * [backup-simplify]: Simplify (- 0) into 0 23.004 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.004 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.004 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.004 * [backup-simplify]: Simplify lambda2 into lambda2 23.004 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda1 23.004 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 23.004 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.004 * [backup-simplify]: Simplify phi1 into phi1 23.004 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda1 23.004 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1 23.004 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 23.004 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 23.004 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.004 * [backup-simplify]: Simplify 0.5 into 0.5 23.004 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.004 * [backup-simplify]: Simplify phi2 into phi2 23.004 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.004 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.004 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.004 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 23.005 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 23.005 * [backup-simplify]: Simplify (- 0) into 0 23.005 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 23.005 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda1 23.005 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1 23.005 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 23.005 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 23.005 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.005 * [backup-simplify]: Simplify 0.5 into 0.5 23.005 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.005 * [backup-simplify]: Simplify phi1 into phi1 23.005 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.005 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.005 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.006 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.006 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.006 * [backup-simplify]: Simplify (- 0) into 0 23.006 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.006 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.006 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.006 * [backup-simplify]: Simplify 0 into 0 23.006 * [backup-simplify]: Simplify 1 into 1 23.006 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 23.006 * [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 23.006 * [taylor]: Taking taylor expansion of 2 in lambda1 23.006 * [backup-simplify]: Simplify 2 into 2 23.006 * [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 23.007 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 23.007 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 23.007 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.007 * [backup-simplify]: Simplify 0.5 into 0.5 23.007 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.007 * [backup-simplify]: Simplify phi2 into phi2 23.007 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.007 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.007 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.007 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda1 23.007 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 23.007 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 23.007 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.007 * [backup-simplify]: Simplify 0.5 into 0.5 23.007 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.007 * [backup-simplify]: Simplify phi2 into phi2 23.007 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.007 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.007 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.007 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda1 23.007 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 23.007 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 23.007 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.007 * [backup-simplify]: Simplify 0.5 into 0.5 23.007 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.008 * [backup-simplify]: Simplify phi1 into phi1 23.008 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.008 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.008 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.008 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda1 23.008 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 23.008 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 23.008 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.008 * [backup-simplify]: Simplify 0.5 into 0.5 23.008 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.008 * [backup-simplify]: Simplify phi1 into phi1 23.008 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.008 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.008 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.008 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.008 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.008 * [backup-simplify]: Simplify lambda2 into lambda2 23.008 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 23.008 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 23.008 * [taylor]: Taking taylor expansion of 2 in lambda1 23.008 * [backup-simplify]: Simplify 2 into 2 23.008 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 23.008 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.008 * [backup-simplify]: Simplify phi2 into phi2 23.008 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.009 * [backup-simplify]: Simplify phi1 into phi1 23.009 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 23.009 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda1 23.009 * [taylor]: Taking taylor expansion of 2 in lambda1 23.009 * [backup-simplify]: Simplify 2 into 2 23.009 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda1 23.009 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 23.009 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 23.009 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.009 * [backup-simplify]: Simplify 0.5 into 0.5 23.009 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.009 * [backup-simplify]: Simplify phi2 into phi2 23.009 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.009 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.009 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.009 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda1 23.009 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 23.009 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 23.009 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.009 * [backup-simplify]: Simplify 0.5 into 0.5 23.009 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.009 * [backup-simplify]: Simplify phi2 into phi2 23.009 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.009 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.010 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.010 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda1 23.010 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 23.010 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 23.010 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.010 * [backup-simplify]: Simplify 0.5 into 0.5 23.010 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.010 * [backup-simplify]: Simplify phi1 into phi1 23.010 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.010 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.010 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.010 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda1 23.010 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 23.010 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 23.010 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.010 * [backup-simplify]: Simplify 0.5 into 0.5 23.010 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.010 * [backup-simplify]: Simplify phi1 into phi1 23.010 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.010 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.010 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.010 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.010 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.010 * [backup-simplify]: Simplify 0 into 0 23.010 * [backup-simplify]: Simplify 1 into 1 23.011 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 23.011 * [taylor]: Taking taylor expansion of 2 in lambda1 23.011 * [backup-simplify]: Simplify 2 into 2 23.011 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 23.011 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.011 * [backup-simplify]: Simplify lambda2 into lambda2 23.011 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 23.011 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 23.011 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 23.011 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 23.011 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.011 * [backup-simplify]: Simplify 0.5 into 0.5 23.011 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 23.011 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.011 * [backup-simplify]: Simplify phi2 into phi2 23.011 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.011 * [backup-simplify]: Simplify phi1 into phi1 23.011 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 23.011 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 23.011 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 23.011 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 23.011 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 23.012 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 23.012 * [backup-simplify]: Simplify (- 0) into 0 23.012 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 23.012 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.012 * [backup-simplify]: Simplify 0 into 0 23.012 * [backup-simplify]: Simplify 1 into 1 23.012 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 23.013 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2) 23.013 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.013 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 23.013 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 23.014 * [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))) 23.014 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 23.014 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 23.014 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.014 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 23.015 * [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))) 23.015 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 23.015 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 23.015 * [backup-simplify]: Simplify (+ (* (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)) 23.017 * [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))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) 23.018 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) 23.020 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) into (+ (* (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 phi2 2) (pow phi1 2)))) 23.020 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 23.020 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 23.021 * [backup-simplify]: Simplify (- 0) into 0 23.021 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 23.021 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 23.021 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 23.021 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 23.021 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.021 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.022 * [backup-simplify]: Simplify (- 0) into 0 23.022 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.022 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 23.022 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 23.022 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 23.022 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.022 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 23.023 * [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))) 23.023 * [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))))) 23.023 * [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))))) 23.024 * [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)))))) 23.024 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 23.024 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 23.024 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 23.025 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 23.025 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.025 * [backup-simplify]: Simplify (* 2 0) into 0 23.026 * [backup-simplify]: Simplify (+ 0 0) into 0 23.026 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 23.026 * [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))) 23.027 * [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)))) 23.029 * [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 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 (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)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))) 23.031 * [backup-simplify]: Simplify (sqrt (- (+ (* (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)))))) (+ (* 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 (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) 23.031 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 23.031 * [backup-simplify]: Simplify (+ 0) into 0 23.031 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 23.032 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.032 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.033 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 23.033 * [backup-simplify]: Simplify (+ 0 0) into 0 23.033 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 23.033 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.033 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (sin (* 0.5 phi1)) 2))) into 0 23.033 * [backup-simplify]: Simplify (+ 0) into 0 23.034 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 23.034 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 23.035 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.035 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 23.035 * [backup-simplify]: Simplify (+ 0 0) into 0 23.035 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0 23.036 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 23.036 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.036 * [backup-simplify]: Simplify (+ 0) into 0 23.036 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 23.037 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.037 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 23.038 * [backup-simplify]: Simplify (- 0) into 0 23.038 * [backup-simplify]: Simplify (+ 0 0) into 0 23.038 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 23.038 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 23.038 * [backup-simplify]: Simplify (+ 0) into 0 23.039 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 23.039 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 23.040 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.040 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 23.040 * [backup-simplify]: Simplify (- 0) into 0 23.040 * [backup-simplify]: Simplify (+ 0 0) into 0 23.040 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 23.041 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 23.041 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 23.041 * [backup-simplify]: Simplify (+ 0 0) into 0 23.041 * [backup-simplify]: Simplify (+ 0 0) into 0 23.041 * [backup-simplify]: Simplify (+ 0 0) into 0 23.042 * [backup-simplify]: Simplify (+ 0 0) into 0 23.042 * [backup-simplify]: Simplify (+ 0 0) into 0 23.042 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.042 * [backup-simplify]: Simplify (+ 0) into 0 23.043 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 23.043 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.044 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 23.044 * [backup-simplify]: Simplify (+ 0 0) into 0 23.044 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 23.044 * [backup-simplify]: Simplify (+ 0) into 0 23.045 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 23.045 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.045 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.046 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 23.046 * [backup-simplify]: Simplify (- 0) into 0 23.046 * [backup-simplify]: Simplify (+ 0 0) into 0 23.046 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 23.047 * [backup-simplify]: Simplify (+ 0) into 0 23.047 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 23.047 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 23.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.048 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 23.048 * [backup-simplify]: Simplify (+ 0 0) into 0 23.048 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0 23.049 * [backup-simplify]: Simplify (+ 0) into 0 23.049 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 23.049 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 23.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.050 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 23.050 * [backup-simplify]: Simplify (- 0) into 0 23.051 * [backup-simplify]: Simplify (+ 0 0) into 0 23.051 * [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 23.051 * [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 23.051 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 23.052 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 23.052 * [backup-simplify]: Simplify (+ 0) into 0 23.052 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 23.053 * [backup-simplify]: Simplify (+ 0 0) into 0 23.053 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 23.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.054 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 23.054 * [backup-simplify]: Simplify (- 0) into 0 23.054 * [backup-simplify]: Simplify (+ 0 0) into 0 23.054 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 23.055 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 23.055 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 23.056 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 23.056 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 23.056 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 23.056 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 23.056 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 23.057 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 23.058 * [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 phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 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 (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 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)))) 23.058 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi1 23.058 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi1 23.058 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in phi1 23.058 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 23.058 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 23.058 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 23.058 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 23.059 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.059 * [backup-simplify]: Simplify 0.5 into 0.5 23.059 * [taylor]: Taking taylor expansion of phi2 in phi1 23.059 * [backup-simplify]: Simplify phi2 into phi2 23.059 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.059 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.059 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.059 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 23.059 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 23.059 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 23.059 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.059 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 23.059 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.059 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.059 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.059 * [backup-simplify]: Simplify 0.5 into 0.5 23.059 * [taylor]: Taking taylor expansion of phi1 in phi1 23.059 * [backup-simplify]: Simplify 0 into 0 23.059 * [backup-simplify]: Simplify 1 into 1 23.059 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.060 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.062 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.062 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.062 * [backup-simplify]: Simplify lambda1 into lambda1 23.062 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in phi1 23.062 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 23.062 * [taylor]: Taking taylor expansion of phi2 in phi1 23.062 * [backup-simplify]: Simplify phi2 into phi2 23.062 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi1 23.062 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1 23.062 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 23.062 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 23.062 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 23.062 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.062 * [backup-simplify]: Simplify 0.5 into 0.5 23.062 * [taylor]: Taking taylor expansion of phi2 in phi1 23.062 * [backup-simplify]: Simplify phi2 into phi2 23.062 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.062 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.062 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.062 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 23.062 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 23.063 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 23.063 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi1 23.063 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.063 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.063 * [backup-simplify]: Simplify lambda2 into lambda2 23.063 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 23.063 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.063 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.063 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.063 * [backup-simplify]: Simplify 0.5 into 0.5 23.063 * [taylor]: Taking taylor expansion of phi1 in phi1 23.063 * [backup-simplify]: Simplify 0 into 0 23.063 * [backup-simplify]: Simplify 1 into 1 23.063 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.064 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.067 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi1 23.067 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 23.067 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 23.067 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 23.067 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 23.067 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.067 * [backup-simplify]: Simplify 0.5 into 0.5 23.067 * [taylor]: Taking taylor expansion of phi2 in phi1 23.067 * [backup-simplify]: Simplify phi2 into phi2 23.067 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.068 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.068 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.068 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 23.068 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 23.068 * [backup-simplify]: Simplify (- 0) into 0 23.068 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 23.068 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.068 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.068 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.068 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.069 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.069 * [backup-simplify]: Simplify 0.5 into 0.5 23.069 * [taylor]: Taking taylor expansion of phi1 in phi1 23.069 * [backup-simplify]: Simplify 0 into 0 23.069 * [backup-simplify]: Simplify 1 into 1 23.069 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.071 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.071 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.071 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.071 * [backup-simplify]: Simplify lambda2 into lambda2 23.071 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi1 23.071 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.071 * [taylor]: Taking taylor expansion of phi1 in phi1 23.071 * [backup-simplify]: Simplify 0 into 0 23.071 * [backup-simplify]: Simplify 1 into 1 23.071 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 23.071 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 23.071 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 23.071 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 23.071 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.071 * [backup-simplify]: Simplify 0.5 into 0.5 23.071 * [taylor]: Taking taylor expansion of phi2 in phi1 23.071 * [backup-simplify]: Simplify phi2 into phi2 23.071 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.071 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.071 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.072 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 23.072 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 23.072 * [backup-simplify]: Simplify (- 0) into 0 23.072 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 23.072 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.072 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.072 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.072 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.073 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.073 * [backup-simplify]: Simplify 0.5 into 0.5 23.073 * [taylor]: Taking taylor expansion of phi1 in phi1 23.073 * [backup-simplify]: Simplify 0 into 0 23.073 * [backup-simplify]: Simplify 1 into 1 23.073 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.075 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.075 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.075 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.075 * [backup-simplify]: Simplify lambda1 into lambda1 23.075 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 23.075 * [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 23.076 * [taylor]: Taking taylor expansion of 2 in phi1 23.076 * [backup-simplify]: Simplify 2 into 2 23.076 * [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 23.076 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 23.076 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 23.076 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.076 * [backup-simplify]: Simplify 0.5 into 0.5 23.076 * [taylor]: Taking taylor expansion of phi2 in phi1 23.076 * [backup-simplify]: Simplify phi2 into phi2 23.076 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.076 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.076 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.076 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 23.076 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 23.076 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 23.076 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.076 * [backup-simplify]: Simplify 0.5 into 0.5 23.076 * [taylor]: Taking taylor expansion of phi2 in phi1 23.076 * [backup-simplify]: Simplify phi2 into phi2 23.076 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.076 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.077 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.077 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 23.077 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.077 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.077 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.077 * [backup-simplify]: Simplify 0.5 into 0.5 23.077 * [taylor]: Taking taylor expansion of phi1 in phi1 23.077 * [backup-simplify]: Simplify 0 into 0 23.077 * [backup-simplify]: Simplify 1 into 1 23.077 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.079 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.079 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 23.079 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.079 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.079 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.079 * [backup-simplify]: Simplify 0.5 into 0.5 23.079 * [taylor]: Taking taylor expansion of phi1 in phi1 23.079 * [backup-simplify]: Simplify 0 into 0 23.079 * [backup-simplify]: Simplify 1 into 1 23.079 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.081 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.081 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.081 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.081 * [backup-simplify]: Simplify lambda2 into lambda2 23.081 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 23.081 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 23.081 * [taylor]: Taking taylor expansion of 2 in phi1 23.081 * [backup-simplify]: Simplify 2 into 2 23.081 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 23.081 * [taylor]: Taking taylor expansion of phi2 in phi1 23.081 * [backup-simplify]: Simplify phi2 into phi2 23.081 * [taylor]: Taking taylor expansion of phi1 in phi1 23.081 * [backup-simplify]: Simplify 0 into 0 23.081 * [backup-simplify]: Simplify 1 into 1 23.081 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 23.081 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi1 23.081 * [taylor]: Taking taylor expansion of 2 in phi1 23.081 * [backup-simplify]: Simplify 2 into 2 23.081 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi1 23.081 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 23.082 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 23.082 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.082 * [backup-simplify]: Simplify 0.5 into 0.5 23.082 * [taylor]: Taking taylor expansion of phi2 in phi1 23.082 * [backup-simplify]: Simplify phi2 into phi2 23.082 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.082 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.082 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.082 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 23.082 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 23.082 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 23.082 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.082 * [backup-simplify]: Simplify 0.5 into 0.5 23.082 * [taylor]: Taking taylor expansion of phi2 in phi1 23.082 * [backup-simplify]: Simplify phi2 into phi2 23.082 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.082 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.082 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.082 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 23.082 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.082 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.083 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.083 * [backup-simplify]: Simplify 0.5 into 0.5 23.083 * [taylor]: Taking taylor expansion of phi1 in phi1 23.083 * [backup-simplify]: Simplify 0 into 0 23.083 * [backup-simplify]: Simplify 1 into 1 23.083 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.085 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.085 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 23.085 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.085 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.085 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.085 * [backup-simplify]: Simplify 0.5 into 0.5 23.085 * [taylor]: Taking taylor expansion of phi1 in phi1 23.085 * [backup-simplify]: Simplify 0 into 0 23.085 * [backup-simplify]: Simplify 1 into 1 23.086 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.087 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.087 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.087 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.087 * [backup-simplify]: Simplify lambda1 into lambda1 23.087 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 23.087 * [taylor]: Taking taylor expansion of 2 in phi1 23.087 * [backup-simplify]: Simplify 2 into 2 23.087 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 23.087 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.087 * [backup-simplify]: Simplify lambda2 into lambda2 23.087 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 23.087 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 23.087 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 23.087 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 23.088 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.088 * [backup-simplify]: Simplify 0.5 into 0.5 23.088 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 23.088 * [taylor]: Taking taylor expansion of phi2 in phi1 23.088 * [backup-simplify]: Simplify phi2 into phi2 23.088 * [taylor]: Taking taylor expansion of phi1 in phi1 23.088 * [backup-simplify]: Simplify 0 into 0 23.088 * [backup-simplify]: Simplify 1 into 1 23.088 * [backup-simplify]: Simplify (+ phi2 0) into phi2 23.088 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 23.088 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 23.088 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 23.088 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 23.088 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 23.089 * [backup-simplify]: Simplify (- 0) into 0 23.089 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 23.089 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.089 * [backup-simplify]: Simplify lambda1 into lambda1 23.089 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 23.089 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 23.089 * [backup-simplify]: Simplify (* 1 1) into 1 23.090 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.090 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.090 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 23.090 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 23.091 * [backup-simplify]: Simplify (* 1 1) into 1 23.091 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.091 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.091 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 23.091 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 23.092 * [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))) 23.093 * [backup-simplify]: Simplify (+ 0 (+ (* (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))) 23.093 * [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))) 23.094 * [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))) 23.094 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 23.095 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 23.101 * [backup-simplify]: Simplify (- 0) into 0 23.101 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 23.102 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 23.102 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 23.102 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 23.102 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.102 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 23.103 * [backup-simplify]: Simplify (* 1 0) into 0 23.103 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 23.103 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 23.104 * [backup-simplify]: Simplify (* 2 0) into 0 23.104 * [backup-simplify]: Simplify (* phi2 0) into 0 23.104 * [backup-simplify]: Simplify (* 2 0) into 0 23.104 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 23.104 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 23.105 * [backup-simplify]: Simplify (- 0) into 0 23.105 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 23.105 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 23.105 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 23.105 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 23.105 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.105 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 23.106 * [backup-simplify]: Simplify (* 1 0) into 0 23.106 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 23.106 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 23.106 * [backup-simplify]: Simplify (* 2 0) into 0 23.107 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 23.107 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 23.107 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 23.107 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 23.108 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 23.108 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 23.108 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 23.109 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 23.110 * [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)))) 23.111 * [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))))) 23.112 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 23.112 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.112 * [backup-simplify]: Simplify (+ 0) into 0 23.113 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.114 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 23.114 * [backup-simplify]: Simplify (+ 0) into 0 23.114 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 23.115 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 23.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.116 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 23.117 * [backup-simplify]: Simplify (- 0) into 0 23.117 * [backup-simplify]: Simplify (+ 0 0) into 0 23.117 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 23.118 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (pow lambda2 2))) into 0 23.118 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 23.118 * [backup-simplify]: Simplify (+ 0) into 0 23.119 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.119 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 23.120 * [backup-simplify]: Simplify (+ 0) into 0 23.120 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 23.121 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 23.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.122 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 23.122 * [backup-simplify]: Simplify (- 0) into 0 23.123 * [backup-simplify]: Simplify (+ 0 0) into 0 23.123 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 23.123 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (pow lambda1 2))) into 0 23.123 * [backup-simplify]: Simplify (+ 0 0) into 0 23.124 * [backup-simplify]: Simplify (+ 0 0) into 0 23.124 * [backup-simplify]: Simplify (+ 0 0) into 0 23.125 * [backup-simplify]: Simplify (+ 0 0) into 0 23.125 * [backup-simplify]: Simplify (+ 0 0) into 0 23.125 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.128 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 23.128 * [backup-simplify]: Simplify (+ 0) into 0 23.129 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 23.129 * [backup-simplify]: Simplify (+ 0) into 0 23.130 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 23.130 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 23.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.132 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 23.132 * [backup-simplify]: Simplify (+ 0 0) into 0 23.132 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda2 2))) 23.132 * [backup-simplify]: Simplify (+ 0) into 0 23.133 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 23.133 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 23.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.134 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 23.134 * [backup-simplify]: Simplify (- 0) into 0 23.134 * [backup-simplify]: Simplify (+ 0 0) into 0 23.135 * [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)))) 23.136 * [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)))) 23.136 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 23.136 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 23.136 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 23.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.138 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 23.138 * [backup-simplify]: Simplify (+ 0) into 0 23.139 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 23.139 * [backup-simplify]: Simplify (+ 0) into 0 23.139 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 23.139 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 23.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.140 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 23.140 * [backup-simplify]: Simplify (+ 0 0) into 0 23.141 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda1 2))) 23.141 * [backup-simplify]: Simplify (+ 0) into 0 23.141 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 23.142 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 23.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.142 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 23.143 * [backup-simplify]: Simplify (- 0) into 0 23.143 * [backup-simplify]: Simplify (+ 0 0) into 0 23.143 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) 23.144 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) 23.144 * [backup-simplify]: Simplify (+ 0) into 0 23.145 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 23.145 * [backup-simplify]: Simplify (+ 0 1) into 1 23.145 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 23.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.147 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 23.147 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 23.147 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 23.147 * [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))))) 23.148 * [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)))) 23.148 * [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))))) 23.148 * [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))))) 23.149 * [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)))))) into (- (* 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))))) 23.149 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 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)))))) into (- (+ (* 2 phi2) (* 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))))) 23.150 * [backup-simplify]: Simplify (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (- (+ (* 2 phi2) (* 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)))))) into (- (+ (* 2 phi2) (+ (* 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))))) 23.151 * [backup-simplify]: Simplify (- (- (+ (* 2 phi2) (+ (* 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)))))) 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)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))))) 23.152 * [backup-simplify]: Simplify (+ 0 (- (* 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)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))))) 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)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))))) 23.154 * [backup-simplify]: Simplify (/ (- (* 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)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 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 (* (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)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (+ (* 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))))))))) 23.154 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi2 23.154 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi2 23.154 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in phi2 23.154 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 23.154 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 23.154 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 23.154 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.154 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.154 * [backup-simplify]: Simplify 0.5 into 0.5 23.154 * [taylor]: Taking taylor expansion of phi2 in phi2 23.154 * [backup-simplify]: Simplify 0 into 0 23.154 * [backup-simplify]: Simplify 1 into 1 23.154 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.155 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.157 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 23.157 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 23.157 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 23.157 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.157 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.157 * [backup-simplify]: Simplify 0.5 into 0.5 23.157 * [taylor]: Taking taylor expansion of phi1 in phi2 23.157 * [backup-simplify]: Simplify phi1 into phi1 23.157 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.157 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.157 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.157 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 23.157 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 23.157 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 23.157 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 23.157 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.157 * [backup-simplify]: Simplify lambda1 into lambda1 23.157 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in phi2 23.157 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 23.157 * [taylor]: Taking taylor expansion of phi2 in phi2 23.157 * [backup-simplify]: Simplify 0 into 0 23.157 * [backup-simplify]: Simplify 1 into 1 23.157 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2 23.158 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 23.158 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 23.158 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 23.158 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.158 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.158 * [backup-simplify]: Simplify 0.5 into 0.5 23.158 * [taylor]: Taking taylor expansion of phi2 in phi2 23.158 * [backup-simplify]: Simplify 0 into 0 23.158 * [backup-simplify]: Simplify 1 into 1 23.158 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.159 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.160 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 23.160 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 23.160 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.160 * [backup-simplify]: Simplify lambda2 into lambda2 23.160 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 23.160 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 23.160 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.160 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.161 * [backup-simplify]: Simplify 0.5 into 0.5 23.161 * [taylor]: Taking taylor expansion of phi1 in phi2 23.161 * [backup-simplify]: Simplify phi1 into phi1 23.161 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.161 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.161 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.161 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 23.161 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 23.161 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 23.161 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2 23.161 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 23.161 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 23.161 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 23.161 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.161 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.161 * [backup-simplify]: Simplify 0.5 into 0.5 23.161 * [taylor]: Taking taylor expansion of phi2 in phi2 23.161 * [backup-simplify]: Simplify 0 into 0 23.161 * [backup-simplify]: Simplify 1 into 1 23.162 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.163 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.163 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 23.163 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 23.163 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 23.163 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.163 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.163 * [backup-simplify]: Simplify 0.5 into 0.5 23.163 * [taylor]: Taking taylor expansion of phi1 in phi2 23.163 * [backup-simplify]: Simplify phi1 into phi1 23.163 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.163 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.163 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.163 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.163 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.163 * [backup-simplify]: Simplify (- 0) into 0 23.163 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.163 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 23.163 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.163 * [backup-simplify]: Simplify lambda2 into lambda2 23.163 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2 23.163 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 23.163 * [taylor]: Taking taylor expansion of phi1 in phi2 23.163 * [backup-simplify]: Simplify phi1 into phi1 23.163 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 23.163 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 23.163 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 23.164 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.164 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.164 * [backup-simplify]: Simplify 0.5 into 0.5 23.164 * [taylor]: Taking taylor expansion of phi2 in phi2 23.164 * [backup-simplify]: Simplify 0 into 0 23.164 * [backup-simplify]: Simplify 1 into 1 23.164 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.165 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.165 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 23.165 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 23.165 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 23.165 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.165 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.165 * [backup-simplify]: Simplify 0.5 into 0.5 23.165 * [taylor]: Taking taylor expansion of phi1 in phi2 23.165 * [backup-simplify]: Simplify phi1 into phi1 23.165 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.165 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.165 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.165 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.165 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.165 * [backup-simplify]: Simplify (- 0) into 0 23.165 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.165 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 23.166 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.166 * [backup-simplify]: Simplify lambda1 into lambda1 23.166 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 23.166 * [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 23.166 * [taylor]: Taking taylor expansion of 2 in phi2 23.166 * [backup-simplify]: Simplify 2 into 2 23.166 * [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 23.166 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 23.166 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.166 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.166 * [backup-simplify]: Simplify 0.5 into 0.5 23.166 * [taylor]: Taking taylor expansion of phi2 in phi2 23.166 * [backup-simplify]: Simplify 0 into 0 23.166 * [backup-simplify]: Simplify 1 into 1 23.166 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.167 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.167 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 23.167 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 23.167 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.167 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.167 * [backup-simplify]: Simplify 0.5 into 0.5 23.167 * [taylor]: Taking taylor expansion of phi2 in phi2 23.167 * [backup-simplify]: Simplify 0 into 0 23.167 * [backup-simplify]: Simplify 1 into 1 23.167 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.168 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.168 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 23.168 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 23.168 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.168 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.168 * [backup-simplify]: Simplify 0.5 into 0.5 23.168 * [taylor]: Taking taylor expansion of phi1 in phi2 23.168 * [backup-simplify]: Simplify phi1 into phi1 23.168 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.168 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.168 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.169 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 23.169 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 23.169 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.169 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.169 * [backup-simplify]: Simplify 0.5 into 0.5 23.169 * [taylor]: Taking taylor expansion of phi1 in phi2 23.169 * [backup-simplify]: Simplify phi1 into phi1 23.169 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.169 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.169 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.169 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 23.169 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.169 * [backup-simplify]: Simplify lambda2 into lambda2 23.169 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 23.169 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 23.169 * [taylor]: Taking taylor expansion of 2 in phi2 23.169 * [backup-simplify]: Simplify 2 into 2 23.169 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 23.169 * [taylor]: Taking taylor expansion of phi2 in phi2 23.169 * [backup-simplify]: Simplify 0 into 0 23.169 * [backup-simplify]: Simplify 1 into 1 23.169 * [taylor]: Taking taylor expansion of phi1 in phi2 23.169 * [backup-simplify]: Simplify phi1 into phi1 23.169 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 23.169 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2 23.169 * [taylor]: Taking taylor expansion of 2 in phi2 23.169 * [backup-simplify]: Simplify 2 into 2 23.169 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2 23.169 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 23.169 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.169 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.169 * [backup-simplify]: Simplify 0.5 into 0.5 23.169 * [taylor]: Taking taylor expansion of phi2 in phi2 23.169 * [backup-simplify]: Simplify 0 into 0 23.169 * [backup-simplify]: Simplify 1 into 1 23.169 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.170 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.170 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2 23.170 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 23.170 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.170 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.170 * [backup-simplify]: Simplify 0.5 into 0.5 23.171 * [taylor]: Taking taylor expansion of phi2 in phi2 23.171 * [backup-simplify]: Simplify 0 into 0 23.171 * [backup-simplify]: Simplify 1 into 1 23.171 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.172 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.172 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2 23.172 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 23.172 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.172 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.172 * [backup-simplify]: Simplify 0.5 into 0.5 23.172 * [taylor]: Taking taylor expansion of phi1 in phi2 23.172 * [backup-simplify]: Simplify phi1 into phi1 23.172 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.172 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.172 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.172 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2 23.172 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 23.172 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.172 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.172 * [backup-simplify]: Simplify 0.5 into 0.5 23.172 * [taylor]: Taking taylor expansion of phi1 in phi2 23.172 * [backup-simplify]: Simplify phi1 into phi1 23.172 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.172 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.172 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.172 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 23.172 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.172 * [backup-simplify]: Simplify lambda1 into lambda1 23.172 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 23.172 * [taylor]: Taking taylor expansion of 2 in phi2 23.172 * [backup-simplify]: Simplify 2 into 2 23.172 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 23.172 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.172 * [backup-simplify]: Simplify lambda2 into lambda2 23.172 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 23.172 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 23.172 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 23.172 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 23.172 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.172 * [backup-simplify]: Simplify 0.5 into 0.5 23.172 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 23.173 * [taylor]: Taking taylor expansion of phi2 in phi2 23.173 * [backup-simplify]: Simplify 0 into 0 23.173 * [backup-simplify]: Simplify 1 into 1 23.173 * [taylor]: Taking taylor expansion of phi1 in phi2 23.173 * [backup-simplify]: Simplify phi1 into phi1 23.173 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 23.173 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.173 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.173 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.173 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.173 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.173 * [backup-simplify]: Simplify (- 0) into 0 23.173 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.173 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.173 * [backup-simplify]: Simplify lambda1 into lambda1 23.173 * [backup-simplify]: Simplify (* 1 1) into 1 23.174 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 23.174 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.174 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 23.174 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 23.174 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 23.174 * [backup-simplify]: Simplify (* 1 1) into 1 23.174 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 23.174 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.175 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 23.175 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 23.175 * [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)) 23.175 * [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))) 23.176 * [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))) 23.176 * [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))) 23.177 * [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))) 23.177 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.177 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.177 * [backup-simplify]: Simplify (- 0) into 0 23.178 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.178 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 23.178 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 23.178 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 23.178 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.178 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 23.178 * [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))) 23.178 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 23.178 * [backup-simplify]: Simplify (* 1 0) into 0 23.179 * [backup-simplify]: Simplify (* 2 0) into 0 23.179 * [backup-simplify]: Simplify (* 0 phi1) into 0 23.179 * [backup-simplify]: Simplify (* 2 0) into 0 23.179 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.179 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.179 * [backup-simplify]: Simplify (- 0) into 0 23.180 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.180 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 23.180 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 23.180 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 23.180 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.180 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2)) 23.180 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) 23.180 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 23.181 * [backup-simplify]: Simplify (* 1 0) into 0 23.181 * [backup-simplify]: Simplify (* 2 0) into 0 23.181 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 23.181 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 23.181 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 23.181 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 23.182 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 23.182 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 23.182 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 23.182 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 23.183 * [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)))) 23.184 * [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))))) 23.184 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.184 * [backup-simplify]: Simplify (+ 0) into 0 23.185 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 23.185 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.186 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 23.186 * [backup-simplify]: Simplify (- 0) into 0 23.186 * [backup-simplify]: Simplify (+ 0 0) into 0 23.186 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 23.187 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 23.187 * [backup-simplify]: Simplify (+ 0) into 0 23.187 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.188 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 23.188 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 23.188 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 23.188 * [backup-simplify]: Simplify (+ 0) into 0 23.189 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 23.189 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.191 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 23.191 * [backup-simplify]: Simplify (- 0) into 0 23.191 * [backup-simplify]: Simplify (+ 0 0) into 0 23.191 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 23.192 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 23.192 * [backup-simplify]: Simplify (+ 0) into 0 23.193 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.193 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 23.194 * [backup-simplify]: Simplify (+ 0 0) into 0 23.194 * [backup-simplify]: Simplify (+ 0 0) into 0 23.195 * [backup-simplify]: Simplify (+ 0 0) into 0 23.195 * [backup-simplify]: Simplify (+ 0 0) into 0 23.195 * [backup-simplify]: Simplify (+ 0 0) into 0 23.195 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.196 * [backup-simplify]: Simplify (+ 0) into 0 23.196 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 23.197 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.197 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.198 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 23.198 * [backup-simplify]: Simplify (+ 0 0) into 0 23.198 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 23.199 * [backup-simplify]: Simplify (+ 0) into 0 23.199 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 23.200 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.201 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 23.201 * [backup-simplify]: Simplify (- 0) into 0 23.202 * [backup-simplify]: Simplify (+ 0 0) into 0 23.202 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 23.204 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.205 * [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)))) 23.205 * [backup-simplify]: Simplify (+ 0) into 0 23.206 * [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)))) 23.207 * [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)))) 23.207 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 23.208 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 23.208 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 23.208 * [backup-simplify]: Simplify (+ 0) into 0 23.209 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 23.209 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.210 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.210 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 23.211 * [backup-simplify]: Simplify (+ 0 0) into 0 23.211 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0 23.211 * [backup-simplify]: Simplify (+ 0) into 0 23.212 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 23.212 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.214 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 23.214 * [backup-simplify]: Simplify (- 0) into 0 23.214 * [backup-simplify]: Simplify (+ 0 0) into 0 23.215 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 23.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.218 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 23.219 * [backup-simplify]: Simplify (+ 0) into 0 23.220 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 23.227 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 23.229 * [backup-simplify]: Simplify (+ 0) into 0 23.230 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 23.230 * [backup-simplify]: Simplify (+ 1 0) into 1 23.231 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 23.233 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.234 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 23.234 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 23.234 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 23.235 * [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))))) 23.235 * [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)))) 23.236 * [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))))) 23.237 * [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))))) 23.237 * [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)))))) into (- (* 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))))) 23.238 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 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)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 23.240 * [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)))) (* 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 lambda1 2)))) (+ (* 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))))) 23.241 * [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 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 lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 23.243 * [backup-simplify]: Simplify (+ 0 (- (* 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))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 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))))))) 23.246 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 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 (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)))))))) 23.246 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi2 23.246 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi2 23.246 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in phi2 23.246 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 23.246 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 23.246 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 23.246 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.246 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.246 * [backup-simplify]: Simplify 0.5 into 0.5 23.246 * [taylor]: Taking taylor expansion of phi2 in phi2 23.246 * [backup-simplify]: Simplify 0 into 0 23.246 * [backup-simplify]: Simplify 1 into 1 23.247 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.248 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.251 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 23.251 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 23.251 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 23.251 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.251 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.251 * [backup-simplify]: Simplify 0.5 into 0.5 23.251 * [taylor]: Taking taylor expansion of phi1 in phi2 23.251 * [backup-simplify]: Simplify phi1 into phi1 23.251 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.251 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.251 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.251 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 23.251 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 23.252 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 23.252 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 23.252 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.252 * [backup-simplify]: Simplify lambda1 into lambda1 23.252 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in phi2 23.252 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 23.252 * [taylor]: Taking taylor expansion of phi2 in phi2 23.252 * [backup-simplify]: Simplify 0 into 0 23.252 * [backup-simplify]: Simplify 1 into 1 23.252 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2 23.252 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 23.252 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 23.252 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 23.252 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.252 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.252 * [backup-simplify]: Simplify 0.5 into 0.5 23.252 * [taylor]: Taking taylor expansion of phi2 in phi2 23.252 * [backup-simplify]: Simplify 0 into 0 23.252 * [backup-simplify]: Simplify 1 into 1 23.253 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.254 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.256 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.256 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 23.257 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 23.257 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.257 * [backup-simplify]: Simplify lambda2 into lambda2 23.257 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 23.257 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 23.257 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.257 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.257 * [backup-simplify]: Simplify 0.5 into 0.5 23.257 * [taylor]: Taking taylor expansion of phi1 in phi2 23.257 * [backup-simplify]: Simplify phi1 into phi1 23.257 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.257 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.257 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.257 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 23.257 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 23.257 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 23.257 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2 23.257 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 23.257 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 23.257 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 23.258 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.258 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.258 * [backup-simplify]: Simplify 0.5 into 0.5 23.258 * [taylor]: Taking taylor expansion of phi2 in phi2 23.258 * [backup-simplify]: Simplify 0 into 0 23.258 * [backup-simplify]: Simplify 1 into 1 23.258 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.260 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.260 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 23.260 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 23.260 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 23.260 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.260 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.260 * [backup-simplify]: Simplify 0.5 into 0.5 23.260 * [taylor]: Taking taylor expansion of phi1 in phi2 23.260 * [backup-simplify]: Simplify phi1 into phi1 23.260 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.260 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.260 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.260 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.260 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.261 * [backup-simplify]: Simplify (- 0) into 0 23.261 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.261 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 23.261 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.261 * [backup-simplify]: Simplify lambda2 into lambda2 23.261 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2 23.261 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 23.261 * [taylor]: Taking taylor expansion of phi1 in phi2 23.261 * [backup-simplify]: Simplify phi1 into phi1 23.261 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 23.261 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 23.261 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 23.261 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.261 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.261 * [backup-simplify]: Simplify 0.5 into 0.5 23.261 * [taylor]: Taking taylor expansion of phi2 in phi2 23.261 * [backup-simplify]: Simplify 0 into 0 23.261 * [backup-simplify]: Simplify 1 into 1 23.262 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.263 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.263 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 23.263 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 23.263 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 23.263 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.263 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.263 * [backup-simplify]: Simplify 0.5 into 0.5 23.263 * [taylor]: Taking taylor expansion of phi1 in phi2 23.263 * [backup-simplify]: Simplify phi1 into phi1 23.263 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.264 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.264 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.264 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.264 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.264 * [backup-simplify]: Simplify (- 0) into 0 23.264 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.264 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 23.264 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.264 * [backup-simplify]: Simplify lambda1 into lambda1 23.264 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 23.265 * [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 23.265 * [taylor]: Taking taylor expansion of 2 in phi2 23.265 * [backup-simplify]: Simplify 2 into 2 23.265 * [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 23.265 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 23.265 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.265 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.265 * [backup-simplify]: Simplify 0.5 into 0.5 23.265 * [taylor]: Taking taylor expansion of phi2 in phi2 23.265 * [backup-simplify]: Simplify 0 into 0 23.265 * [backup-simplify]: Simplify 1 into 1 23.265 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.267 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.267 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 23.267 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 23.267 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.267 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.267 * [backup-simplify]: Simplify 0.5 into 0.5 23.267 * [taylor]: Taking taylor expansion of phi2 in phi2 23.267 * [backup-simplify]: Simplify 0 into 0 23.267 * [backup-simplify]: Simplify 1 into 1 23.267 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.269 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.269 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 23.269 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 23.269 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.269 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.269 * [backup-simplify]: Simplify 0.5 into 0.5 23.269 * [taylor]: Taking taylor expansion of phi1 in phi2 23.269 * [backup-simplify]: Simplify phi1 into phi1 23.269 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.269 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.269 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.269 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 23.269 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 23.269 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.269 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.269 * [backup-simplify]: Simplify 0.5 into 0.5 23.269 * [taylor]: Taking taylor expansion of phi1 in phi2 23.269 * [backup-simplify]: Simplify phi1 into phi1 23.269 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.270 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.270 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.270 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 23.270 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.270 * [backup-simplify]: Simplify lambda2 into lambda2 23.270 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 23.270 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 23.270 * [taylor]: Taking taylor expansion of 2 in phi2 23.270 * [backup-simplify]: Simplify 2 into 2 23.270 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 23.270 * [taylor]: Taking taylor expansion of phi2 in phi2 23.270 * [backup-simplify]: Simplify 0 into 0 23.270 * [backup-simplify]: Simplify 1 into 1 23.270 * [taylor]: Taking taylor expansion of phi1 in phi2 23.270 * [backup-simplify]: Simplify phi1 into phi1 23.270 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 23.270 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2 23.270 * [taylor]: Taking taylor expansion of 2 in phi2 23.270 * [backup-simplify]: Simplify 2 into 2 23.270 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2 23.270 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 23.270 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.270 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.270 * [backup-simplify]: Simplify 0.5 into 0.5 23.270 * [taylor]: Taking taylor expansion of phi2 in phi2 23.270 * [backup-simplify]: Simplify 0 into 0 23.270 * [backup-simplify]: Simplify 1 into 1 23.271 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.272 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.272 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2 23.272 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 23.272 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 23.272 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.272 * [backup-simplify]: Simplify 0.5 into 0.5 23.272 * [taylor]: Taking taylor expansion of phi2 in phi2 23.273 * [backup-simplify]: Simplify 0 into 0 23.273 * [backup-simplify]: Simplify 1 into 1 23.273 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.274 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.274 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2 23.274 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 23.275 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.275 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.275 * [backup-simplify]: Simplify 0.5 into 0.5 23.275 * [taylor]: Taking taylor expansion of phi1 in phi2 23.275 * [backup-simplify]: Simplify phi1 into phi1 23.275 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.275 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.275 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.275 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2 23.275 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 23.275 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 23.275 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.275 * [backup-simplify]: Simplify 0.5 into 0.5 23.275 * [taylor]: Taking taylor expansion of phi1 in phi2 23.275 * [backup-simplify]: Simplify phi1 into phi1 23.275 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.275 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.275 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.275 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 23.275 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.275 * [backup-simplify]: Simplify lambda1 into lambda1 23.275 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 23.276 * [taylor]: Taking taylor expansion of 2 in phi2 23.276 * [backup-simplify]: Simplify 2 into 2 23.276 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 23.276 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.276 * [backup-simplify]: Simplify lambda2 into lambda2 23.276 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 23.276 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 23.276 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 23.276 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 23.276 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.276 * [backup-simplify]: Simplify 0.5 into 0.5 23.276 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 23.276 * [taylor]: Taking taylor expansion of phi2 in phi2 23.276 * [backup-simplify]: Simplify 0 into 0 23.276 * [backup-simplify]: Simplify 1 into 1 23.276 * [taylor]: Taking taylor expansion of phi1 in phi2 23.276 * [backup-simplify]: Simplify phi1 into phi1 23.276 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 23.276 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 23.276 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 23.276 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 23.276 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.276 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.277 * [backup-simplify]: Simplify (- 0) into 0 23.277 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.277 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.277 * [backup-simplify]: Simplify lambda1 into lambda1 23.277 * [backup-simplify]: Simplify (* 1 1) into 1 23.278 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 23.278 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.278 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 23.278 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 23.278 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 23.279 * [backup-simplify]: Simplify (* 1 1) into 1 23.279 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 23.279 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.279 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 23.280 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 23.280 * [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)) 23.281 * [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))) 23.282 * [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))) 23.283 * [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))) 23.284 * [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))) 23.284 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.284 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.284 * [backup-simplify]: Simplify (- 0) into 0 23.285 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.285 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 23.285 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 23.285 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 23.285 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.285 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 23.285 * [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))) 23.286 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 23.286 * [backup-simplify]: Simplify (* 1 0) into 0 23.287 * [backup-simplify]: Simplify (* 2 0) into 0 23.287 * [backup-simplify]: Simplify (* 0 phi1) into 0 23.287 * [backup-simplify]: Simplify (* 2 0) into 0 23.287 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 23.287 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 23.288 * [backup-simplify]: Simplify (- 0) into 0 23.288 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 23.288 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 23.288 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 23.288 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 23.288 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.288 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2)) 23.289 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) 23.289 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 23.289 * [backup-simplify]: Simplify (* 1 0) into 0 23.290 * [backup-simplify]: Simplify (* 2 0) into 0 23.290 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 23.290 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 23.290 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 23.291 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 23.291 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 23.291 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 23.292 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 23.292 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 23.293 * [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)))) 23.295 * [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))))) 23.295 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.296 * [backup-simplify]: Simplify (+ 0) into 0 23.296 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 23.297 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.298 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.298 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 23.299 * [backup-simplify]: Simplify (- 0) into 0 23.299 * [backup-simplify]: Simplify (+ 0 0) into 0 23.300 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 23.300 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 23.301 * [backup-simplify]: Simplify (+ 0) into 0 23.301 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.302 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 23.302 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 23.302 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 23.303 * [backup-simplify]: Simplify (+ 0) into 0 23.303 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 23.304 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.304 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.305 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 23.305 * [backup-simplify]: Simplify (- 0) into 0 23.306 * [backup-simplify]: Simplify (+ 0 0) into 0 23.306 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 23.306 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 23.306 * [backup-simplify]: Simplify (+ 0) into 0 23.307 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.308 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 23.308 * [backup-simplify]: Simplify (+ 0 0) into 0 23.309 * [backup-simplify]: Simplify (+ 0 0) into 0 23.309 * [backup-simplify]: Simplify (+ 0 0) into 0 23.309 * [backup-simplify]: Simplify (+ 0 0) into 0 23.310 * [backup-simplify]: Simplify (+ 0 0) into 0 23.310 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.310 * [backup-simplify]: Simplify (+ 0) into 0 23.311 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 23.311 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.312 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 23.313 * [backup-simplify]: Simplify (+ 0 0) into 0 23.313 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 23.313 * [backup-simplify]: Simplify (+ 0) into 0 23.314 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 23.314 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.316 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 23.316 * [backup-simplify]: Simplify (- 0) into 0 23.316 * [backup-simplify]: Simplify (+ 0 0) into 0 23.317 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 23.319 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.320 * [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)))) 23.320 * [backup-simplify]: Simplify (+ 0) into 0 23.321 * [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)))) 23.322 * [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)))) 23.322 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 23.323 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 23.323 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 23.323 * [backup-simplify]: Simplify (+ 0) into 0 23.324 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 23.324 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.325 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.325 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 23.326 * [backup-simplify]: Simplify (+ 0 0) into 0 23.326 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0 23.326 * [backup-simplify]: Simplify (+ 0) into 0 23.327 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 23.327 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 23.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.329 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 23.329 * [backup-simplify]: Simplify (- 0) into 0 23.329 * [backup-simplify]: Simplify (+ 0 0) into 0 23.330 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 23.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.333 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 23.333 * [backup-simplify]: Simplify (+ 0) into 0 23.334 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 23.335 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 23.335 * [backup-simplify]: Simplify (+ 0) into 0 23.336 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 23.337 * [backup-simplify]: Simplify (+ 1 0) into 1 23.337 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 23.339 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.340 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 23.340 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 23.340 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 23.341 * [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))))) 23.341 * [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)))) 23.342 * [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))))) 23.342 * [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))))) 23.343 * [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)))))) into (- (* 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))))) 23.344 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 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)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 23.346 * [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)))) (* 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 lambda1 2)))) (+ (* 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))))) 23.347 * [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 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 lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 23.349 * [backup-simplify]: Simplify (+ 0 (- (* 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))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 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))))))) 23.352 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 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 (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)))))))) 23.352 * [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 23.352 * [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 23.352 * [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 23.352 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.352 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.352 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.352 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.352 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.352 * [backup-simplify]: Simplify 0.5 into 0.5 23.353 * [taylor]: Taking taylor expansion of phi1 in phi1 23.353 * [backup-simplify]: Simplify 0 into 0 23.353 * [backup-simplify]: Simplify 1 into 1 23.353 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.355 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.355 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.355 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.355 * [backup-simplify]: Simplify lambda2 into lambda2 23.355 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 23.355 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.355 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.355 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.355 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.355 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.355 * [backup-simplify]: Simplify 0.5 into 0.5 23.355 * [taylor]: Taking taylor expansion of phi1 in phi1 23.355 * [backup-simplify]: Simplify 0 into 0 23.355 * [backup-simplify]: Simplify 1 into 1 23.356 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.357 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.357 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.357 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.357 * [backup-simplify]: Simplify lambda1 into lambda1 23.357 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.357 * [taylor]: Taking taylor expansion of phi1 in phi1 23.357 * [backup-simplify]: Simplify 0 into 0 23.357 * [backup-simplify]: Simplify 1 into 1 23.357 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.357 * [taylor]: Taking taylor expansion of 2 in phi1 23.357 * [backup-simplify]: Simplify 2 into 2 23.357 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.357 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.357 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.358 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.358 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.358 * [backup-simplify]: Simplify 0.5 into 0.5 23.358 * [taylor]: Taking taylor expansion of phi1 in phi1 23.358 * [backup-simplify]: Simplify 0 into 0 23.358 * [backup-simplify]: Simplify 1 into 1 23.358 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.360 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.360 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.360 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.360 * [backup-simplify]: Simplify lambda2 into lambda2 23.360 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.360 * [backup-simplify]: Simplify lambda1 into lambda1 23.360 * [backup-simplify]: Simplify (* 1 1) into 1 23.360 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.360 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.361 * [backup-simplify]: Simplify (* 1 1) into 1 23.361 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.361 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.361 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 23.361 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 23.362 * [backup-simplify]: Simplify (* 1 1) into 1 23.362 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.362 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.362 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 23.362 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 23.362 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 23.363 * [backup-simplify]: Simplify (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 23.363 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.363 * [backup-simplify]: Simplify (+ 0) into 0 23.364 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.365 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 23.365 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 23.365 * [backup-simplify]: Simplify (+ 0) into 0 23.366 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.366 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 23.367 * [backup-simplify]: Simplify (+ 0 0) into 0 23.367 * [backup-simplify]: Simplify (+ 0 0) into 0 23.367 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 23.368 * [backup-simplify]: Simplify (+ 0) into 0 23.368 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.369 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 23.369 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 23.369 * [backup-simplify]: Simplify (- 0) into 0 23.370 * [backup-simplify]: Simplify (+ 0 0) into 0 23.370 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) into 0 23.370 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 23.370 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 23.370 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 23.371 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.371 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.371 * [backup-simplify]: Simplify 0 into 0 23.371 * [backup-simplify]: Simplify 1 into 1 23.371 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.371 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.371 * [backup-simplify]: Simplify lambda2 into lambda2 23.371 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 23.371 * [taylor]: Taking taylor expansion of 2 in lambda1 23.371 * [backup-simplify]: Simplify 2 into 2 23.371 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 23.371 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.371 * [backup-simplify]: Simplify lambda2 into lambda2 23.371 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.371 * [backup-simplify]: Simplify 0 into 0 23.371 * [backup-simplify]: Simplify 1 into 1 23.371 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.371 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 23.371 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.372 * [backup-simplify]: Simplify (* 2 0) into 0 23.372 * [backup-simplify]: Simplify (- 0) into 0 23.372 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 23.372 * [backup-simplify]: Simplify (sqrt (pow lambda2 2)) into lambda2 23.372 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.373 * [backup-simplify]: Simplify (+ 0 0) into 0 23.373 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 23.374 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 23.374 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 23.374 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 23.374 * [backup-simplify]: Simplify (/ (- (* 2 lambda2)) (* 2 (sqrt (pow lambda2 2)))) into -1 23.374 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.374 * [backup-simplify]: Simplify 0 into 0 23.374 * [backup-simplify]: Simplify 1 into 1 23.374 * [backup-simplify]: Simplify 0 into 0 23.374 * [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 23.374 * [taylor]: Taking taylor expansion of 1/2 in phi1 23.374 * [backup-simplify]: Simplify 1/2 into 1/2 23.374 * [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 23.374 * [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 23.374 * [taylor]: Taking taylor expansion of (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) in phi1 23.375 * [taylor]: Taking taylor expansion of 2.0 in phi1 23.375 * [backup-simplify]: Simplify 2.0 into 2.0 23.375 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))) in phi1 23.375 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.375 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.375 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.375 * [backup-simplify]: Simplify 0.5 into 0.5 23.375 * [taylor]: Taking taylor expansion of phi1 in phi1 23.375 * [backup-simplify]: Simplify 0 into 0 23.375 * [backup-simplify]: Simplify 1 into 1 23.375 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.377 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.377 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 lambda1)) in phi1 23.377 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.377 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.377 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.377 * [backup-simplify]: Simplify 0.5 into 0.5 23.377 * [taylor]: Taking taylor expansion of phi1 in phi1 23.377 * [backup-simplify]: Simplify 0 into 0 23.377 * [backup-simplify]: Simplify 1 into 1 23.377 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.379 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.379 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.379 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.379 * [backup-simplify]: Simplify lambda2 into lambda2 23.379 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.379 * [backup-simplify]: Simplify lambda1 into lambda1 23.379 * [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 23.379 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 23.379 * [taylor]: Taking taylor expansion of 1.0 in phi1 23.379 * [backup-simplify]: Simplify 1.0 into 1.0 23.379 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 23.379 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.379 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.379 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.379 * [backup-simplify]: Simplify 0.5 into 0.5 23.379 * [taylor]: Taking taylor expansion of phi1 in phi1 23.379 * [backup-simplify]: Simplify 0 into 0 23.379 * [backup-simplify]: Simplify 1 into 1 23.380 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.381 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.381 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 23.381 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.381 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.381 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.381 * [backup-simplify]: Simplify 0.5 into 0.5 23.381 * [taylor]: Taking taylor expansion of phi1 in phi1 23.381 * [backup-simplify]: Simplify 0 into 0 23.381 * [backup-simplify]: Simplify 1 into 1 23.382 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.390 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.390 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.390 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.390 * [backup-simplify]: Simplify lambda1 into lambda1 23.390 * [taylor]: Taking taylor expansion of (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) in phi1 23.390 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 23.390 * [taylor]: Taking taylor expansion of 1.0 in phi1 23.390 * [backup-simplify]: Simplify 1.0 into 1.0 23.390 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 23.390 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.390 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.391 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.391 * [backup-simplify]: Simplify 0.5 into 0.5 23.391 * [taylor]: Taking taylor expansion of phi1 in phi1 23.391 * [backup-simplify]: Simplify 0 into 0 23.391 * [backup-simplify]: Simplify 1 into 1 23.391 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.393 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.393 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 23.393 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.393 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.393 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.393 * [backup-simplify]: Simplify 0.5 into 0.5 23.393 * [taylor]: Taking taylor expansion of phi1 in phi1 23.393 * [backup-simplify]: Simplify 0 into 0 23.393 * [backup-simplify]: Simplify 1 into 1 23.394 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.395 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.395 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.395 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.395 * [backup-simplify]: Simplify lambda2 into lambda2 23.395 * [taylor]: Taking taylor expansion of (* 2 phi1) in phi1 23.395 * [taylor]: Taking taylor expansion of 2 in phi1 23.395 * [backup-simplify]: Simplify 2 into 2 23.395 * [taylor]: Taking taylor expansion of phi1 in phi1 23.395 * [backup-simplify]: Simplify 0 into 0 23.395 * [backup-simplify]: Simplify 1 into 1 23.395 * [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 23.395 * [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 23.396 * [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 23.396 * [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 23.396 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.396 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.396 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.396 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.396 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.396 * [backup-simplify]: Simplify 0.5 into 0.5 23.396 * [taylor]: Taking taylor expansion of phi1 in phi1 23.396 * [backup-simplify]: Simplify 0 into 0 23.396 * [backup-simplify]: Simplify 1 into 1 23.396 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.398 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.398 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.398 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.399 * [backup-simplify]: Simplify lambda2 into lambda2 23.399 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 23.399 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.399 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.399 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.399 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.399 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.399 * [backup-simplify]: Simplify 0.5 into 0.5 23.399 * [taylor]: Taking taylor expansion of phi1 in phi1 23.399 * [backup-simplify]: Simplify 0 into 0 23.399 * [backup-simplify]: Simplify 1 into 1 23.399 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.401 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.401 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.401 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.401 * [backup-simplify]: Simplify lambda1 into lambda1 23.401 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.401 * [taylor]: Taking taylor expansion of phi1 in phi1 23.401 * [backup-simplify]: Simplify 0 into 0 23.401 * [backup-simplify]: Simplify 1 into 1 23.401 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.401 * [taylor]: Taking taylor expansion of 2 in phi1 23.401 * [backup-simplify]: Simplify 2 into 2 23.401 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.401 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.401 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.401 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.401 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.401 * [backup-simplify]: Simplify 0.5 into 0.5 23.401 * [taylor]: Taking taylor expansion of phi1 in phi1 23.401 * [backup-simplify]: Simplify 0 into 0 23.402 * [backup-simplify]: Simplify 1 into 1 23.402 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.403 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.403 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.403 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.403 * [backup-simplify]: Simplify lambda2 into lambda2 23.404 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.404 * [backup-simplify]: Simplify lambda1 into lambda1 23.404 * [backup-simplify]: Simplify (* 1 1) into 1 23.404 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.404 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.405 * [backup-simplify]: Simplify (* 1 1) into 1 23.405 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.405 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.405 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 23.405 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 23.405 * [backup-simplify]: Simplify (* 1 1) into 1 23.406 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.406 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.406 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 23.406 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 23.406 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 23.407 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 23.407 * [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))))) 23.407 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.408 * [backup-simplify]: Simplify (+ 0) into 0 23.408 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.409 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 23.409 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 23.409 * [backup-simplify]: Simplify (+ 0) into 0 23.410 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.410 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 23.411 * [backup-simplify]: Simplify (+ 0 0) into 0 23.411 * [backup-simplify]: Simplify (+ 0 0) into 0 23.411 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 23.411 * [backup-simplify]: Simplify (+ 0) into 0 23.412 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.413 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 23.413 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 23.413 * [backup-simplify]: Simplify (- 0) into 0 23.414 * [backup-simplify]: Simplify (+ 0 0) into 0 23.415 * [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 23.415 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into 0 23.415 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.415 * [backup-simplify]: Simplify (* 0 (* lambda2 lambda1)) into 0 23.416 * [backup-simplify]: Simplify (* 1 0) into 0 23.416 * [backup-simplify]: Simplify (* 2.0 0) into 0 23.416 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.416 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 23.417 * [backup-simplify]: Simplify (* 1 0) into 0 23.417 * [backup-simplify]: Simplify (* 1.0 0) into 0 23.417 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.417 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 23.418 * [backup-simplify]: Simplify (* 1 0) into 0 23.418 * [backup-simplify]: Simplify (* 1.0 0) into 0 23.419 * [backup-simplify]: Simplify (* 2 0) into 0 23.419 * [backup-simplify]: Simplify (+ 0 0) into 0 23.419 * [backup-simplify]: Simplify (+ 0 0) into 0 23.420 * [backup-simplify]: Simplify (- 0) into 0 23.420 * [backup-simplify]: Simplify (+ 0 0) into 0 23.420 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) into 0 23.421 * [backup-simplify]: Simplify (* 1/2 0) into 0 23.421 * [taylor]: Taking taylor expansion of 0 in lambda1 23.421 * [backup-simplify]: Simplify 0 into 0 23.421 * [taylor]: Taking taylor expansion of 0 in lambda2 23.421 * [backup-simplify]: Simplify 0 into 0 23.421 * [backup-simplify]: Simplify 0 into 0 23.421 * [taylor]: Taking taylor expansion of 0 in lambda1 23.421 * [backup-simplify]: Simplify 0 into 0 23.421 * [taylor]: Taking taylor expansion of 0 in lambda2 23.421 * [backup-simplify]: Simplify 0 into 0 23.421 * [backup-simplify]: Simplify 0 into 0 23.421 * [taylor]: Taking taylor expansion of -1 in lambda2 23.421 * [backup-simplify]: Simplify -1 into -1 23.421 * [backup-simplify]: Simplify -1 into -1 23.421 * [backup-simplify]: Simplify 1 into 1 23.422 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 23.422 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 23.422 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.422 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) 23.423 * [backup-simplify]: Simplify (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) into (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 23.423 * [backup-simplify]: Simplify (* 1 1) into 1 23.423 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 23.423 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.424 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 23.424 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 23.424 * [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))) 23.425 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 23.425 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 23.426 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 23.427 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 23.428 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 23.428 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 23.429 * [backup-simplify]: Simplify (- 0) into 0 23.429 * [backup-simplify]: Simplify (+ 0 0) into 0 23.430 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 23.430 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda2 2)))) into 0 23.432 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 23.435 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 23.436 * [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)))) 23.436 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 23.436 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 23.437 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 23.437 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 23.438 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 23.438 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 23.439 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 23.439 * [backup-simplify]: Simplify (- 0) into 0 23.439 * [backup-simplify]: Simplify (+ 0 0) into 0 23.439 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 23.440 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0 23.441 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 23.444 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 23.445 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 23.445 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 23.445 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 23.446 * [backup-simplify]: Simplify (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (- (+ (* 0.25 (* (pow (cos (* 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 (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 23.447 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 0.25 (* (pow (cos (* 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))) 1) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 23.448 * [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 lambda2 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 (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))))) 23.448 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 23.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 23.449 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 23.450 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 23.450 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 23.451 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 23.451 * [backup-simplify]: Simplify (+ 0 0) into 0 23.451 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda2 2)))) into 0 23.452 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 23.452 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 23.453 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 23.453 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 23.454 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 23.454 * [backup-simplify]: Simplify (- 0) into 0 23.454 * [backup-simplify]: Simplify (+ 0 0) into 0 23.455 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0 23.455 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 23.456 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 23.456 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) into 0 23.458 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 23.459 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* (- 0.125) 0))) into 0 23.460 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0))) into 0 23.460 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 23.461 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi1) (* 0 0))) into 0 23.462 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 23.463 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 23.463 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 23.464 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 23.465 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 23.466 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 23.466 * [backup-simplify]: Simplify (+ 0 0) into 0 23.467 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0 23.467 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 23.468 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 23.469 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 23.470 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 23.470 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 23.471 * [backup-simplify]: Simplify (- 0) into 0 23.471 * [backup-simplify]: Simplify (+ 0 0) into 0 23.472 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0 23.473 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 23.474 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 23.475 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0 23.477 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 23.477 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* (- 0.125) 0))) into 0 23.478 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0))) into 0 23.480 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 23.480 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 23.481 * [backup-simplify]: Simplify (+ 0 0) into 0 23.481 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 23.482 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 23.482 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 23.482 * [backup-simplify]: Simplify (- 0) into 0 23.482 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 23.483 * [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))) 23.483 * [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))) 23.484 * [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)))) 23.485 * [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)))) 23.485 * [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)))) 23.486 * [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)))) 23.486 * [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)))) 23.487 * [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)))) 23.488 * [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)))))) 23.494 * [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)))))))))))))))) 23.494 * [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 23.494 * [taylor]: Taking taylor expansion of 1/2 in phi1 23.494 * [backup-simplify]: Simplify 1/2 into 1/2 23.494 * [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 23.494 * [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 23.494 * [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 23.494 * [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 23.494 * [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 23.494 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.494 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.494 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.494 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.494 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.494 * [backup-simplify]: Simplify 0.5 into 0.5 23.494 * [taylor]: Taking taylor expansion of phi1 in phi1 23.494 * [backup-simplify]: Simplify 0 into 0 23.494 * [backup-simplify]: Simplify 1 into 1 23.495 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.496 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.496 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.496 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.496 * [backup-simplify]: Simplify lambda2 into lambda2 23.496 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 23.496 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.496 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.496 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.496 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.496 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.496 * [backup-simplify]: Simplify 0.5 into 0.5 23.496 * [taylor]: Taking taylor expansion of phi1 in phi1 23.496 * [backup-simplify]: Simplify 0 into 0 23.496 * [backup-simplify]: Simplify 1 into 1 23.496 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.497 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.497 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.497 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.497 * [backup-simplify]: Simplify lambda1 into lambda1 23.497 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.497 * [taylor]: Taking taylor expansion of phi1 in phi1 23.497 * [backup-simplify]: Simplify 0 into 0 23.497 * [backup-simplify]: Simplify 1 into 1 23.497 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.497 * [taylor]: Taking taylor expansion of 2 in phi1 23.497 * [backup-simplify]: Simplify 2 into 2 23.497 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.497 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.497 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.497 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.497 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.497 * [backup-simplify]: Simplify 0.5 into 0.5 23.497 * [taylor]: Taking taylor expansion of phi1 in phi1 23.497 * [backup-simplify]: Simplify 0 into 0 23.497 * [backup-simplify]: Simplify 1 into 1 23.498 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.498 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.498 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.498 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.498 * [backup-simplify]: Simplify lambda2 into lambda2 23.498 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.499 * [backup-simplify]: Simplify lambda1 into lambda1 23.503 * [backup-simplify]: Simplify (* 1 1) into 1 23.504 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.504 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.504 * [backup-simplify]: Simplify (* 1 1) into 1 23.504 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.504 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.504 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 23.505 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 23.505 * [backup-simplify]: Simplify (* 1 1) into 1 23.505 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.505 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.505 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 23.505 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 23.505 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 23.506 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 23.506 * [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))))) 23.506 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.506 * [backup-simplify]: Simplify (+ 0) into 0 23.507 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.507 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 23.507 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 23.507 * [backup-simplify]: Simplify (+ 0) into 0 23.508 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.508 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 23.508 * [backup-simplify]: Simplify (+ 0 0) into 0 23.509 * [backup-simplify]: Simplify (+ 0 0) into 0 23.509 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 23.509 * [backup-simplify]: Simplify (+ 0) into 0 23.509 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.510 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 23.510 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 23.510 * [backup-simplify]: Simplify (- 0) into 0 23.510 * [backup-simplify]: Simplify (+ 0 0) into 0 23.511 * [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 23.511 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into 0 23.511 * [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 23.511 * [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 23.511 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 23.511 * [taylor]: Taking taylor expansion of 0.25 in phi1 23.511 * [backup-simplify]: Simplify 0.25 into 0.25 23.511 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.511 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 23.512 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.512 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.512 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.512 * [backup-simplify]: Simplify 0.5 into 0.5 23.512 * [taylor]: Taking taylor expansion of phi1 in phi1 23.512 * [backup-simplify]: Simplify 0 into 0 23.512 * [backup-simplify]: Simplify 1 into 1 23.512 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.513 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.514 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.514 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.514 * [backup-simplify]: Simplify lambda2 into lambda2 23.514 * [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 23.514 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.514 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.514 * [backup-simplify]: Simplify 0.5 into 0.5 23.514 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.514 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.514 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.514 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.514 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.514 * [backup-simplify]: Simplify 0.5 into 0.5 23.514 * [taylor]: Taking taylor expansion of phi1 in phi1 23.514 * [backup-simplify]: Simplify 0 into 0 23.514 * [backup-simplify]: Simplify 1 into 1 23.515 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.516 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.516 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.516 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.516 * [backup-simplify]: Simplify lambda2 into lambda2 23.516 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.516 * [backup-simplify]: Simplify lambda1 into lambda1 23.516 * [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 23.516 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 23.516 * [taylor]: Taking taylor expansion of 0.25 in phi1 23.516 * [backup-simplify]: Simplify 0.25 into 0.25 23.516 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.516 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 23.516 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.516 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.516 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.516 * [backup-simplify]: Simplify 0.5 into 0.5 23.516 * [taylor]: Taking taylor expansion of phi1 in phi1 23.516 * [backup-simplify]: Simplify 0 into 0 23.516 * [backup-simplify]: Simplify 1 into 1 23.516 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.517 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.518 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.519 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.519 * [backup-simplify]: Simplify lambda1 into lambda1 23.519 * [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 23.519 * [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 23.519 * [taylor]: Taking taylor expansion of 1.0 in phi1 23.519 * [backup-simplify]: Simplify 1.0 into 1.0 23.519 * [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 23.519 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) in phi1 23.519 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.519 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.519 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.519 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.519 * [backup-simplify]: Simplify 0.5 into 0.5 23.519 * [taylor]: Taking taylor expansion of phi1 in phi1 23.519 * [backup-simplify]: Simplify 0 into 0 23.519 * [backup-simplify]: Simplify 1 into 1 23.519 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.520 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.520 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1)) in phi1 23.520 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 23.520 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.520 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.520 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.520 * [backup-simplify]: Simplify 0.5 into 0.5 23.520 * [taylor]: Taking taylor expansion of phi1 in phi1 23.520 * [backup-simplify]: Simplify 0 into 0 23.520 * [backup-simplify]: Simplify 1 into 1 23.520 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.521 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.523 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.523 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) lambda1) in phi1 23.523 * [taylor]: Taking taylor expansion of (pow lambda2 3) in phi1 23.523 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.523 * [backup-simplify]: Simplify lambda2 into lambda2 23.523 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.523 * [backup-simplify]: Simplify lambda1 into lambda1 23.523 * [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 23.523 * [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 23.523 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.523 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.523 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.523 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.523 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.523 * [backup-simplify]: Simplify 0.5 into 0.5 23.523 * [taylor]: Taking taylor expansion of phi1 in phi1 23.523 * [backup-simplify]: Simplify 0 into 0 23.523 * [backup-simplify]: Simplify 1 into 1 23.523 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.524 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.524 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.524 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.524 * [backup-simplify]: Simplify lambda2 into lambda2 23.524 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 23.524 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.524 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.524 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.524 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.524 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.524 * [backup-simplify]: Simplify 0.5 into 0.5 23.524 * [taylor]: Taking taylor expansion of phi1 in phi1 23.524 * [backup-simplify]: Simplify 0 into 0 23.524 * [backup-simplify]: Simplify 1 into 1 23.525 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.525 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.525 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.526 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.526 * [backup-simplify]: Simplify lambda1 into lambda1 23.526 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.526 * [taylor]: Taking taylor expansion of phi1 in phi1 23.526 * [backup-simplify]: Simplify 0 into 0 23.526 * [backup-simplify]: Simplify 1 into 1 23.526 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.526 * [taylor]: Taking taylor expansion of 2 in phi1 23.526 * [backup-simplify]: Simplify 2 into 2 23.526 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.526 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.526 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.526 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.526 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.526 * [backup-simplify]: Simplify 0.5 into 0.5 23.526 * [taylor]: Taking taylor expansion of phi1 in phi1 23.526 * [backup-simplify]: Simplify 0 into 0 23.526 * [backup-simplify]: Simplify 1 into 1 23.526 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.527 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.527 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.527 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.527 * [backup-simplify]: Simplify lambda2 into lambda2 23.527 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.527 * [backup-simplify]: Simplify lambda1 into lambda1 23.527 * [backup-simplify]: Simplify (* 1 1) into 1 23.528 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 23.528 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.528 * [backup-simplify]: Simplify (* lambda2 (pow lambda2 2)) into (pow lambda2 3) 23.528 * [backup-simplify]: Simplify (* (pow lambda2 3) lambda1) into (* (pow lambda2 3) lambda1) 23.528 * [backup-simplify]: Simplify (* 0.25 (* (pow lambda2 3) lambda1)) into (* 0.25 (* (pow lambda2 3) lambda1)) 23.528 * [backup-simplify]: Simplify (* 1 (* 0.25 (* (pow lambda2 3) lambda1))) into (* 0.25 (* (pow lambda2 3) lambda1)) 23.528 * [backup-simplify]: Simplify (* 1 1) into 1 23.528 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.529 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.529 * [backup-simplify]: Simplify (* 1 1) into 1 23.529 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.529 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.529 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 23.529 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 23.529 * [backup-simplify]: Simplify (* 1 1) into 1 23.530 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.530 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.530 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 23.530 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 23.530 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 23.530 * [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))))) 23.530 * [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 23.530 * [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 23.530 * [taylor]: Taking taylor expansion of 2.0 in phi1 23.530 * [backup-simplify]: Simplify 2.0 into 2.0 23.530 * [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 23.530 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) in phi1 23.530 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.530 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.531 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.531 * [backup-simplify]: Simplify 0.5 into 0.5 23.531 * [taylor]: Taking taylor expansion of phi1 in phi1 23.531 * [backup-simplify]: Simplify 0 into 0 23.531 * [backup-simplify]: Simplify 1 into 1 23.531 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.532 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.532 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1))) in phi1 23.532 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.532 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.532 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.532 * [backup-simplify]: Simplify 0.5 into 0.5 23.532 * [taylor]: Taking taylor expansion of phi1 in phi1 23.532 * [backup-simplify]: Simplify 0 into 0 23.532 * [backup-simplify]: Simplify 1 into 1 23.532 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.533 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.533 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 phi1)) in phi1 23.533 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.533 * [backup-simplify]: Simplify lambda2 into lambda2 23.533 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 23.533 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.533 * [backup-simplify]: Simplify lambda1 into lambda1 23.533 * [taylor]: Taking taylor expansion of phi1 in phi1 23.533 * [backup-simplify]: Simplify 0 into 0 23.533 * [backup-simplify]: Simplify 1 into 1 23.533 * [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 23.533 * [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 23.533 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.533 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.533 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.533 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.533 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.533 * [backup-simplify]: Simplify 0.5 into 0.5 23.533 * [taylor]: Taking taylor expansion of phi1 in phi1 23.533 * [backup-simplify]: Simplify 0 into 0 23.533 * [backup-simplify]: Simplify 1 into 1 23.534 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.534 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.534 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.535 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.535 * [backup-simplify]: Simplify lambda2 into lambda2 23.535 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 23.535 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.535 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.535 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.535 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.535 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.535 * [backup-simplify]: Simplify 0.5 into 0.5 23.535 * [taylor]: Taking taylor expansion of phi1 in phi1 23.535 * [backup-simplify]: Simplify 0 into 0 23.535 * [backup-simplify]: Simplify 1 into 1 23.535 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.536 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.536 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.536 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.536 * [backup-simplify]: Simplify lambda1 into lambda1 23.536 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.536 * [taylor]: Taking taylor expansion of phi1 in phi1 23.536 * [backup-simplify]: Simplify 0 into 0 23.536 * [backup-simplify]: Simplify 1 into 1 23.536 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.536 * [taylor]: Taking taylor expansion of 2 in phi1 23.536 * [backup-simplify]: Simplify 2 into 2 23.536 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.536 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.537 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.537 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.537 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.537 * [backup-simplify]: Simplify 0.5 into 0.5 23.537 * [taylor]: Taking taylor expansion of phi1 in phi1 23.537 * [backup-simplify]: Simplify 0 into 0 23.537 * [backup-simplify]: Simplify 1 into 1 23.537 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.539 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.539 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.539 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.539 * [backup-simplify]: Simplify lambda2 into lambda2 23.539 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.539 * [backup-simplify]: Simplify lambda1 into lambda1 23.539 * [backup-simplify]: Simplify (* lambda1 0) into 0 23.539 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.539 * [backup-simplify]: Simplify (* 0 0) into 0 23.540 * [backup-simplify]: Simplify (* 1 0) into 0 23.540 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 23.540 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 23.543 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.543 * [backup-simplify]: Simplify (+ (* 0 (* lambda2 lambda1)) (* 0.5 0)) into 0 23.544 * [backup-simplify]: Simplify (+ 0) into 0 23.544 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 23.545 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 1) (* 0 0))) into 0 23.545 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 lambda1) (* 0 0))) into 0 23.546 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 23.547 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 23.548 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (* lambda2 lambda1)) (* 0 0))) into (* 0.5 (* lambda2 lambda1)) 23.551 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 23.552 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (* lambda2 lambda1)) 23.552 * [backup-simplify]: Simplify (* 1 1) into 1 23.552 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.552 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.553 * [backup-simplify]: Simplify (* 1 1) into 1 23.553 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.553 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.553 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 23.553 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 23.554 * [backup-simplify]: Simplify (* 1 1) into 1 23.554 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.554 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.554 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 23.554 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 23.555 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 23.555 * [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))))) 23.555 * [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 23.555 * [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 23.555 * [taylor]: Taking taylor expansion of 1.0 in phi1 23.555 * [backup-simplify]: Simplify 1.0 into 1.0 23.555 * [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 23.555 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) in phi1 23.555 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.555 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.555 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.555 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.555 * [backup-simplify]: Simplify 0.5 into 0.5 23.555 * [taylor]: Taking taylor expansion of phi1 in phi1 23.555 * [backup-simplify]: Simplify 0 into 0 23.556 * [backup-simplify]: Simplify 1 into 1 23.556 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.557 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.557 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3))) in phi1 23.557 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 23.557 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.557 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.557 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.558 * [backup-simplify]: Simplify 0.5 into 0.5 23.558 * [taylor]: Taking taylor expansion of phi1 in phi1 23.558 * [backup-simplify]: Simplify 0 into 0 23.558 * [backup-simplify]: Simplify 1 into 1 23.558 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.560 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.562 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.562 * [taylor]: Taking taylor expansion of (* lambda2 (pow lambda1 3)) in phi1 23.562 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.562 * [backup-simplify]: Simplify lambda2 into lambda2 23.562 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi1 23.562 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.562 * [backup-simplify]: Simplify lambda1 into lambda1 23.562 * [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 23.562 * [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 23.562 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.562 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.562 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.563 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.563 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.563 * [backup-simplify]: Simplify 0.5 into 0.5 23.563 * [taylor]: Taking taylor expansion of phi1 in phi1 23.563 * [backup-simplify]: Simplify 0 into 0 23.563 * [backup-simplify]: Simplify 1 into 1 23.563 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.564 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.564 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.564 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.564 * [backup-simplify]: Simplify lambda2 into lambda2 23.564 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 23.564 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.564 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.564 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.564 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.564 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.564 * [backup-simplify]: Simplify 0.5 into 0.5 23.564 * [taylor]: Taking taylor expansion of phi1 in phi1 23.564 * [backup-simplify]: Simplify 0 into 0 23.564 * [backup-simplify]: Simplify 1 into 1 23.565 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.565 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.565 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.566 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.566 * [backup-simplify]: Simplify lambda1 into lambda1 23.566 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.566 * [taylor]: Taking taylor expansion of phi1 in phi1 23.566 * [backup-simplify]: Simplify 0 into 0 23.566 * [backup-simplify]: Simplify 1 into 1 23.566 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.566 * [taylor]: Taking taylor expansion of 2 in phi1 23.566 * [backup-simplify]: Simplify 2 into 2 23.566 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.566 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.566 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.566 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.566 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.566 * [backup-simplify]: Simplify 0.5 into 0.5 23.566 * [taylor]: Taking taylor expansion of phi1 in phi1 23.566 * [backup-simplify]: Simplify 0 into 0 23.566 * [backup-simplify]: Simplify 1 into 1 23.566 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.567 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.567 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.567 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.567 * [backup-simplify]: Simplify lambda2 into lambda2 23.567 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.567 * [backup-simplify]: Simplify lambda1 into lambda1 23.567 * [backup-simplify]: Simplify (* 1 1) into 1 23.567 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 23.568 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.568 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3) 23.568 * [backup-simplify]: Simplify (* lambda2 (pow lambda1 3)) into (* lambda2 (pow lambda1 3)) 23.568 * [backup-simplify]: Simplify (* 0.25 (* lambda2 (pow lambda1 3))) into (* 0.25 (* lambda2 (pow lambda1 3))) 23.568 * [backup-simplify]: Simplify (* 1 (* 0.25 (* lambda2 (pow lambda1 3)))) into (* 0.25 (* lambda2 (pow lambda1 3))) 23.568 * [backup-simplify]: Simplify (* 1 1) into 1 23.568 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.568 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.569 * [backup-simplify]: Simplify (* 1 1) into 1 23.569 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.569 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.569 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 23.569 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 23.569 * [backup-simplify]: Simplify (* 1 1) into 1 23.569 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.569 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.569 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 23.569 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 23.570 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 23.570 * [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))))) 23.570 * [taylor]: Taking taylor expansion of 1 in phi1 23.570 * [backup-simplify]: Simplify 1 into 1 23.570 * [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 23.570 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 23.570 * [taylor]: Taking taylor expansion of 0.25 in phi1 23.570 * [backup-simplify]: Simplify 0.25 into 0.25 23.570 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.570 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.570 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.570 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.570 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.570 * [backup-simplify]: Simplify 0.5 into 0.5 23.570 * [taylor]: Taking taylor expansion of phi1 in phi1 23.570 * [backup-simplify]: Simplify 0 into 0 23.570 * [backup-simplify]: Simplify 1 into 1 23.571 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.571 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.571 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.571 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.572 * [backup-simplify]: Simplify lambda2 into lambda2 23.572 * [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 23.572 * [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 23.572 * [taylor]: Taking taylor expansion of 1.5 in phi1 23.572 * [backup-simplify]: Simplify 1.5 into 1.5 23.572 * [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 23.572 * [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 23.572 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.572 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.572 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.572 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.572 * [backup-simplify]: Simplify 0.5 into 0.5 23.572 * [taylor]: Taking taylor expansion of phi1 in phi1 23.572 * [backup-simplify]: Simplify 0 into 0 23.572 * [backup-simplify]: Simplify 1 into 1 23.572 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.573 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.573 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2))) in phi1 23.573 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 23.573 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.573 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.573 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.573 * [backup-simplify]: Simplify 0.5 into 0.5 23.573 * [taylor]: Taking taylor expansion of phi1 in phi1 23.573 * [backup-simplify]: Simplify 0 into 0 23.573 * [backup-simplify]: Simplify 1 into 1 23.573 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.574 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.576 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow lambda1 2)) in phi1 23.576 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.576 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.576 * [backup-simplify]: Simplify lambda2 into lambda2 23.576 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.576 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.576 * [backup-simplify]: Simplify lambda1 into lambda1 23.576 * [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 23.576 * [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 23.576 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.576 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.576 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.576 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.576 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.576 * [backup-simplify]: Simplify 0.5 into 0.5 23.576 * [taylor]: Taking taylor expansion of phi1 in phi1 23.576 * [backup-simplify]: Simplify 0 into 0 23.576 * [backup-simplify]: Simplify 1 into 1 23.576 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.577 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.577 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.577 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.577 * [backup-simplify]: Simplify lambda2 into lambda2 23.577 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 23.577 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.577 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.577 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.577 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.577 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.577 * [backup-simplify]: Simplify 0.5 into 0.5 23.577 * [taylor]: Taking taylor expansion of phi1 in phi1 23.577 * [backup-simplify]: Simplify 0 into 0 23.577 * [backup-simplify]: Simplify 1 into 1 23.578 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.578 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.578 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.578 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.578 * [backup-simplify]: Simplify lambda1 into lambda1 23.578 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.579 * [taylor]: Taking taylor expansion of phi1 in phi1 23.579 * [backup-simplify]: Simplify 0 into 0 23.579 * [backup-simplify]: Simplify 1 into 1 23.579 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.579 * [taylor]: Taking taylor expansion of 2 in phi1 23.579 * [backup-simplify]: Simplify 2 into 2 23.579 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.579 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.579 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.579 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.579 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.579 * [backup-simplify]: Simplify 0.5 into 0.5 23.579 * [taylor]: Taking taylor expansion of phi1 in phi1 23.579 * [backup-simplify]: Simplify 0 into 0 23.579 * [backup-simplify]: Simplify 1 into 1 23.579 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.580 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.580 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.580 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.580 * [backup-simplify]: Simplify lambda2 into lambda2 23.580 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.580 * [backup-simplify]: Simplify lambda1 into lambda1 23.580 * [backup-simplify]: Simplify (* 1 1) into 1 23.580 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 23.580 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.581 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.581 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow lambda1 2)) into (* (pow lambda2 2) (pow lambda1 2)) 23.581 * [backup-simplify]: Simplify (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) into (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) 23.581 * [backup-simplify]: Simplify (* 1 (* 0.25 (* (pow lambda2 2) (pow lambda1 2)))) into (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) 23.581 * [backup-simplify]: Simplify (* 1 1) into 1 23.581 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.581 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.582 * [backup-simplify]: Simplify (* 1 1) into 1 23.582 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.582 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.582 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 23.582 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 23.582 * [backup-simplify]: Simplify (* 1 1) into 1 23.582 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.582 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.582 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 23.582 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 23.583 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 23.583 * [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))))) 23.583 * [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 23.583 * [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 23.583 * [taylor]: Taking taylor expansion of 0.25 in phi1 23.583 * [backup-simplify]: Simplify 0.25 into 0.25 23.583 * [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 23.583 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) in phi1 23.583 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.583 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.583 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.583 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.583 * [backup-simplify]: Simplify 0.5 into 0.5 23.583 * [taylor]: Taking taylor expansion of phi1 in phi1 23.583 * [backup-simplify]: Simplify 0 into 0 23.583 * [backup-simplify]: Simplify 1 into 1 23.584 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.584 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.584 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4)) in phi1 23.584 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 23.585 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.585 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.585 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.585 * [backup-simplify]: Simplify 0.5 into 0.5 23.585 * [taylor]: Taking taylor expansion of phi1 in phi1 23.585 * [backup-simplify]: Simplify 0 into 0 23.585 * [backup-simplify]: Simplify 1 into 1 23.585 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.586 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.587 * [taylor]: Taking taylor expansion of (pow lambda1 4) in phi1 23.587 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.587 * [backup-simplify]: Simplify lambda1 into lambda1 23.587 * [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 23.587 * [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 23.587 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.587 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.587 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.587 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.587 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.587 * [backup-simplify]: Simplify 0.5 into 0.5 23.587 * [taylor]: Taking taylor expansion of phi1 in phi1 23.587 * [backup-simplify]: Simplify 0 into 0 23.587 * [backup-simplify]: Simplify 1 into 1 23.588 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.588 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.589 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.589 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.589 * [backup-simplify]: Simplify lambda2 into lambda2 23.589 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 23.589 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.589 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.589 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.589 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.589 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.589 * [backup-simplify]: Simplify 0.5 into 0.5 23.589 * [taylor]: Taking taylor expansion of phi1 in phi1 23.589 * [backup-simplify]: Simplify 0 into 0 23.589 * [backup-simplify]: Simplify 1 into 1 23.589 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.590 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.590 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.590 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.590 * [backup-simplify]: Simplify lambda1 into lambda1 23.590 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.590 * [taylor]: Taking taylor expansion of phi1 in phi1 23.590 * [backup-simplify]: Simplify 0 into 0 23.590 * [backup-simplify]: Simplify 1 into 1 23.590 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.590 * [taylor]: Taking taylor expansion of 2 in phi1 23.590 * [backup-simplify]: Simplify 2 into 2 23.590 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.590 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.590 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.590 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.590 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.590 * [backup-simplify]: Simplify 0.5 into 0.5 23.590 * [taylor]: Taking taylor expansion of phi1 in phi1 23.590 * [backup-simplify]: Simplify 0 into 0 23.590 * [backup-simplify]: Simplify 1 into 1 23.590 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.591 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.591 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.591 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.591 * [backup-simplify]: Simplify lambda2 into lambda2 23.591 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.591 * [backup-simplify]: Simplify lambda1 into lambda1 23.592 * [backup-simplify]: Simplify (* 1 1) into 1 23.592 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 23.592 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.592 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4) 23.592 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 4)) into (* 0.25 (pow lambda1 4)) 23.592 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda1 4))) into (* 0.25 (pow lambda1 4)) 23.592 * [backup-simplify]: Simplify (* 1 1) into 1 23.593 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.593 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.593 * [backup-simplify]: Simplify (* 1 1) into 1 23.593 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.593 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.593 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 23.593 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 23.593 * [backup-simplify]: Simplify (* 1 1) into 1 23.593 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.594 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.594 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 23.594 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 23.594 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 23.594 * [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))))) 23.594 * [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 23.594 * [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 23.594 * [taylor]: Taking taylor expansion of 1.0 in phi1 23.594 * [backup-simplify]: Simplify 1.0 into 1.0 23.594 * [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 23.594 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) in phi1 23.594 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.594 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.594 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.594 * [backup-simplify]: Simplify 0.5 into 0.5 23.594 * [taylor]: Taking taylor expansion of phi1 in phi1 23.594 * [backup-simplify]: Simplify 0 into 0 23.594 * [backup-simplify]: Simplify 1 into 1 23.595 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.596 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.596 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1)) in phi1 23.596 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.596 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.596 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.596 * [backup-simplify]: Simplify 0.5 into 0.5 23.596 * [taylor]: Taking taylor expansion of phi1 in phi1 23.596 * [backup-simplify]: Simplify 0 into 0 23.596 * [backup-simplify]: Simplify 1 into 1 23.596 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.598 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.598 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 23.598 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.598 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.598 * [backup-simplify]: Simplify lambda1 into lambda1 23.598 * [taylor]: Taking taylor expansion of phi1 in phi1 23.598 * [backup-simplify]: Simplify 0 into 0 23.598 * [backup-simplify]: Simplify 1 into 1 23.598 * [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 23.598 * [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 23.598 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.598 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.598 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.598 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.598 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.598 * [backup-simplify]: Simplify 0.5 into 0.5 23.598 * [taylor]: Taking taylor expansion of phi1 in phi1 23.598 * [backup-simplify]: Simplify 0 into 0 23.598 * [backup-simplify]: Simplify 1 into 1 23.599 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.600 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.600 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.600 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.600 * [backup-simplify]: Simplify lambda2 into lambda2 23.600 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 23.600 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.600 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.600 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.600 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.600 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.601 * [backup-simplify]: Simplify 0.5 into 0.5 23.601 * [taylor]: Taking taylor expansion of phi1 in phi1 23.601 * [backup-simplify]: Simplify 0 into 0 23.601 * [backup-simplify]: Simplify 1 into 1 23.601 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.602 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.602 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.602 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.603 * [backup-simplify]: Simplify lambda1 into lambda1 23.603 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.603 * [taylor]: Taking taylor expansion of phi1 in phi1 23.603 * [backup-simplify]: Simplify 0 into 0 23.603 * [backup-simplify]: Simplify 1 into 1 23.603 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.603 * [taylor]: Taking taylor expansion of 2 in phi1 23.603 * [backup-simplify]: Simplify 2 into 2 23.603 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.603 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.603 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.603 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.603 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.603 * [backup-simplify]: Simplify 0.5 into 0.5 23.603 * [taylor]: Taking taylor expansion of phi1 in phi1 23.603 * [backup-simplify]: Simplify 0 into 0 23.603 * [backup-simplify]: Simplify 1 into 1 23.603 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.605 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.605 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.605 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.605 * [backup-simplify]: Simplify lambda2 into lambda2 23.605 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.605 * [backup-simplify]: Simplify lambda1 into lambda1 23.605 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.605 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 23.606 * [backup-simplify]: Simplify (* 0 0) into 0 23.606 * [backup-simplify]: Simplify (* 1 0) into 0 23.606 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 23.607 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 23.609 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.610 * [backup-simplify]: Simplify (+ (* 0 (pow lambda1 2)) (* 0.5 0)) into 0 23.610 * [backup-simplify]: Simplify (+ 0) into 0 23.611 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 23.611 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 23.612 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (+ (* 0 1) (* 0 0))) into 0 23.620 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 23.621 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 23.623 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda1 2)) (* 0 0))) into (* 0.5 (pow lambda1 2)) 23.625 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 23.626 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda1 2)) 23.627 * [backup-simplify]: Simplify (* 1 1) into 1 23.627 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.627 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.627 * [backup-simplify]: Simplify (* 1 1) into 1 23.627 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.628 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.628 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 23.628 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 23.628 * [backup-simplify]: Simplify (* 1 1) into 1 23.628 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.628 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.628 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 23.628 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 23.628 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 23.629 * [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))))) 23.629 * [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 23.629 * [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 23.629 * [taylor]: Taking taylor expansion of 0.25 in phi1 23.629 * [backup-simplify]: Simplify 0.25 into 0.25 23.629 * [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 23.629 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) in phi1 23.629 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.629 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.629 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.629 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.629 * [backup-simplify]: Simplify 0.5 into 0.5 23.629 * [taylor]: Taking taylor expansion of phi1 in phi1 23.629 * [backup-simplify]: Simplify 0 into 0 23.629 * [backup-simplify]: Simplify 1 into 1 23.629 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.630 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.630 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4)) in phi1 23.630 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 23.630 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.630 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.630 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.630 * [backup-simplify]: Simplify 0.5 into 0.5 23.630 * [taylor]: Taking taylor expansion of phi1 in phi1 23.630 * [backup-simplify]: Simplify 0 into 0 23.630 * [backup-simplify]: Simplify 1 into 1 23.631 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.632 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.633 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.633 * [taylor]: Taking taylor expansion of (pow lambda2 4) in phi1 23.633 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.633 * [backup-simplify]: Simplify lambda2 into lambda2 23.633 * [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 23.633 * [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 23.634 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.634 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.634 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.634 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.634 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.634 * [backup-simplify]: Simplify 0.5 into 0.5 23.634 * [taylor]: Taking taylor expansion of phi1 in phi1 23.634 * [backup-simplify]: Simplify 0 into 0 23.634 * [backup-simplify]: Simplify 1 into 1 23.634 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.635 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.635 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.635 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.635 * [backup-simplify]: Simplify lambda2 into lambda2 23.635 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 23.635 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.635 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.635 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.635 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.635 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.635 * [backup-simplify]: Simplify 0.5 into 0.5 23.635 * [taylor]: Taking taylor expansion of phi1 in phi1 23.635 * [backup-simplify]: Simplify 0 into 0 23.635 * [backup-simplify]: Simplify 1 into 1 23.635 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.636 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.636 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.636 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.636 * [backup-simplify]: Simplify lambda1 into lambda1 23.636 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.636 * [taylor]: Taking taylor expansion of phi1 in phi1 23.636 * [backup-simplify]: Simplify 0 into 0 23.636 * [backup-simplify]: Simplify 1 into 1 23.636 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.636 * [taylor]: Taking taylor expansion of 2 in phi1 23.636 * [backup-simplify]: Simplify 2 into 2 23.636 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.636 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.636 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.636 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.636 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.636 * [backup-simplify]: Simplify 0.5 into 0.5 23.636 * [taylor]: Taking taylor expansion of phi1 in phi1 23.636 * [backup-simplify]: Simplify 0 into 0 23.636 * [backup-simplify]: Simplify 1 into 1 23.637 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.638 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.638 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.638 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.638 * [backup-simplify]: Simplify lambda2 into lambda2 23.638 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.638 * [backup-simplify]: Simplify lambda1 into lambda1 23.638 * [backup-simplify]: Simplify (* 1 1) into 1 23.638 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 23.638 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.638 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow lambda2 2)) into (pow lambda2 4) 23.638 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 4)) into (* 0.25 (pow lambda2 4)) 23.639 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda2 4))) into (* 0.25 (pow lambda2 4)) 23.639 * [backup-simplify]: Simplify (* 1 1) into 1 23.639 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.639 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.639 * [backup-simplify]: Simplify (* 1 1) into 1 23.639 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.639 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.639 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 23.640 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 23.640 * [backup-simplify]: Simplify (* 1 1) into 1 23.640 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.640 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.640 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 23.640 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 23.640 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 23.640 * [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))))) 23.641 * [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 23.641 * [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 23.641 * [taylor]: Taking taylor expansion of 1.0 in phi1 23.641 * [backup-simplify]: Simplify 1.0 into 1.0 23.641 * [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 23.641 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) in phi1 23.641 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.641 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.641 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.641 * [backup-simplify]: Simplify 0.5 into 0.5 23.641 * [taylor]: Taking taylor expansion of phi1 in phi1 23.641 * [backup-simplify]: Simplify 0 into 0 23.641 * [backup-simplify]: Simplify 1 into 1 23.641 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.642 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.642 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1)) in phi1 23.642 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.642 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.642 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.642 * [backup-simplify]: Simplify 0.5 into 0.5 23.642 * [taylor]: Taking taylor expansion of phi1 in phi1 23.642 * [backup-simplify]: Simplify 0 into 0 23.642 * [backup-simplify]: Simplify 1 into 1 23.642 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.643 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.643 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 23.643 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.643 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.643 * [backup-simplify]: Simplify lambda2 into lambda2 23.643 * [taylor]: Taking taylor expansion of phi1 in phi1 23.643 * [backup-simplify]: Simplify 0 into 0 23.643 * [backup-simplify]: Simplify 1 into 1 23.643 * [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 23.643 * [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 23.643 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.643 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.643 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.643 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.643 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.643 * [backup-simplify]: Simplify 0.5 into 0.5 23.643 * [taylor]: Taking taylor expansion of phi1 in phi1 23.643 * [backup-simplify]: Simplify 0 into 0 23.643 * [backup-simplify]: Simplify 1 into 1 23.644 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.645 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.645 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.645 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.645 * [backup-simplify]: Simplify lambda2 into lambda2 23.645 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 23.645 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.645 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.645 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.645 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.645 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.645 * [backup-simplify]: Simplify 0.5 into 0.5 23.645 * [taylor]: Taking taylor expansion of phi1 in phi1 23.645 * [backup-simplify]: Simplify 0 into 0 23.645 * [backup-simplify]: Simplify 1 into 1 23.645 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.646 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.646 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.646 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.646 * [backup-simplify]: Simplify lambda1 into lambda1 23.646 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.646 * [taylor]: Taking taylor expansion of phi1 in phi1 23.646 * [backup-simplify]: Simplify 0 into 0 23.646 * [backup-simplify]: Simplify 1 into 1 23.646 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.646 * [taylor]: Taking taylor expansion of 2 in phi1 23.646 * [backup-simplify]: Simplify 2 into 2 23.646 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.646 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.646 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.646 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.646 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.646 * [backup-simplify]: Simplify 0.5 into 0.5 23.646 * [taylor]: Taking taylor expansion of phi1 in phi1 23.646 * [backup-simplify]: Simplify 0 into 0 23.646 * [backup-simplify]: Simplify 1 into 1 23.647 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.648 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.648 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.648 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.648 * [backup-simplify]: Simplify lambda2 into lambda2 23.648 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.648 * [backup-simplify]: Simplify lambda1 into lambda1 23.648 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.648 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 23.648 * [backup-simplify]: Simplify (* 0 0) into 0 23.648 * [backup-simplify]: Simplify (* 1 0) into 0 23.648 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.649 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 23.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.651 * [backup-simplify]: Simplify (+ (* 0 (pow lambda2 2)) (* 0.5 0)) into 0 23.651 * [backup-simplify]: Simplify (+ 0) into 0 23.651 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 23.651 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 23.652 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 1) (* 0 0))) into 0 23.652 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 23.653 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 23.653 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda2 2)) (* 0 0))) into (* 0.5 (pow lambda2 2)) 23.655 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 23.656 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda2 2)) 23.656 * [backup-simplify]: Simplify (* 1 1) into 1 23.656 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.656 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.656 * [backup-simplify]: Simplify (* 1 1) into 1 23.656 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.656 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.656 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 23.657 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 23.657 * [backup-simplify]: Simplify (* 1 1) into 1 23.657 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.657 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.657 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 23.657 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 23.657 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 23.658 * [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))))) 23.658 * [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 23.658 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.658 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.658 * [backup-simplify]: Simplify 0.5 into 0.5 23.658 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.658 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 23.658 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 23.658 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.658 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.658 * [backup-simplify]: Simplify 0.5 into 0.5 23.658 * [taylor]: Taking taylor expansion of phi1 in phi1 23.658 * [backup-simplify]: Simplify 0 into 0 23.658 * [backup-simplify]: Simplify 1 into 1 23.658 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.659 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.661 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.661 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.661 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.661 * [backup-simplify]: Simplify lambda2 into lambda2 23.661 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.661 * [backup-simplify]: Simplify lambda1 into lambda1 23.661 * [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 23.661 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 23.661 * [taylor]: Taking taylor expansion of 0.25 in phi1 23.661 * [backup-simplify]: Simplify 0.25 into 0.25 23.661 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.661 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.661 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.662 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.662 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.662 * [backup-simplify]: Simplify 0.5 into 0.5 23.662 * [taylor]: Taking taylor expansion of phi1 in phi1 23.662 * [backup-simplify]: Simplify 0 into 0 23.662 * [backup-simplify]: Simplify 1 into 1 23.662 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.664 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.664 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.664 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.664 * [backup-simplify]: Simplify lambda1 into lambda1 23.664 * [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 23.664 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.664 * [taylor]: Taking taylor expansion of phi1 in phi1 23.664 * [backup-simplify]: Simplify 0 into 0 23.664 * [backup-simplify]: Simplify 1 into 1 23.664 * [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 23.664 * [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 23.664 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 23.664 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.664 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.664 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.664 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.664 * [backup-simplify]: Simplify 0.5 into 0.5 23.664 * [taylor]: Taking taylor expansion of phi1 in phi1 23.664 * [backup-simplify]: Simplify 0 into 0 23.664 * [backup-simplify]: Simplify 1 into 1 23.665 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.666 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.666 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.666 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.666 * [backup-simplify]: Simplify lambda2 into lambda2 23.666 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 23.666 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 23.666 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.666 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.666 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.666 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.666 * [backup-simplify]: Simplify 0.5 into 0.5 23.666 * [taylor]: Taking taylor expansion of phi1 in phi1 23.666 * [backup-simplify]: Simplify 0 into 0 23.666 * [backup-simplify]: Simplify 1 into 1 23.667 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.668 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.668 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.668 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.668 * [backup-simplify]: Simplify lambda1 into lambda1 23.668 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.668 * [taylor]: Taking taylor expansion of phi1 in phi1 23.669 * [backup-simplify]: Simplify 0 into 0 23.669 * [backup-simplify]: Simplify 1 into 1 23.669 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 23.669 * [taylor]: Taking taylor expansion of 2 in phi1 23.669 * [backup-simplify]: Simplify 2 into 2 23.669 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 23.669 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 23.669 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 23.669 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 23.669 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.669 * [backup-simplify]: Simplify 0.5 into 0.5 23.669 * [taylor]: Taking taylor expansion of phi1 in phi1 23.669 * [backup-simplify]: Simplify 0 into 0 23.669 * [backup-simplify]: Simplify 1 into 1 23.669 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.671 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 23.671 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.671 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.671 * [backup-simplify]: Simplify lambda2 into lambda2 23.671 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.671 * [backup-simplify]: Simplify lambda1 into lambda1 23.671 * [backup-simplify]: Simplify (* 1 1) into 1 23.672 * [backup-simplify]: Simplify (* 1 1) into 1 23.672 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.672 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.672 * [backup-simplify]: Simplify (* 1 1) into 1 23.672 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.673 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.673 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 23.673 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 23.673 * [backup-simplify]: Simplify (* 1 1) into 1 23.673 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.673 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.674 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 23.674 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 23.674 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 23.674 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 23.675 * [backup-simplify]: Simplify (* 1 1) into 1 23.675 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.675 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 23.675 * [backup-simplify]: Simplify (* 0.5 (* lambda2 lambda1)) into (* 0.5 (* lambda2 lambda1)) 23.676 * [backup-simplify]: Simplify (+ 0 1) into 1 23.676 * [backup-simplify]: Simplify (+ 0 1) into 1 23.676 * [backup-simplify]: Simplify (+ 0 1) into 1 23.677 * [backup-simplify]: Simplify (+ 0 1) into 1 23.677 * [backup-simplify]: Simplify (+ (* 0.5 (* lambda2 lambda1)) 1) into (+ 1 (* 0.5 (* lambda2 lambda1))) 23.677 * [backup-simplify]: Simplify (+ 0 (+ 1 (* 0.5 (* lambda2 lambda1)))) into (+ (* 0.5 (* lambda2 lambda1)) 1) 23.678 * [backup-simplify]: Simplify (* 1 1) into 1 23.678 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.678 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 23.678 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 23.678 * [backup-simplify]: Simplify (* 1 1) into 1 23.678 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.679 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 23.679 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 23.679 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2)) 23.679 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 23.680 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 23.680 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 23.680 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 23.680 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 23.680 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 23.681 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda2 2)) (* 0.25 (pow lambda1 2))) into (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) 23.681 * [backup-simplify]: Simplify (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) into (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 23.682 * [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)))) 23.683 * [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)))))) 23.684 * [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))))))) 23.684 * [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 lambda1 23.684 * [taylor]: Taking taylor expansion of 1/2 in lambda1 23.684 * [backup-simplify]: Simplify 1/2 into 1/2 23.684 * [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 lambda1 23.684 * [taylor]: Taking taylor expansion of (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda1 23.684 * [taylor]: Taking taylor expansion of (+ (* 0.5 (* lambda2 lambda1)) 1) in lambda1 23.684 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda1 23.684 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.684 * [backup-simplify]: Simplify 0.5 into 0.5 23.684 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 23.684 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.684 * [backup-simplify]: Simplify lambda2 into lambda2 23.684 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.684 * [backup-simplify]: Simplify 0 into 0 23.684 * [backup-simplify]: Simplify 1 into 1 23.684 * [taylor]: Taking taylor expansion of 1 in lambda1 23.684 * [backup-simplify]: Simplify 1 into 1 23.684 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda1 23.684 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 23.684 * [taylor]: Taking taylor expansion of 0.25 in lambda1 23.685 * [backup-simplify]: Simplify 0.25 into 0.25 23.685 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.685 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.685 * [backup-simplify]: Simplify 0 into 0 23.685 * [backup-simplify]: Simplify 1 into 1 23.685 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda1 23.685 * [taylor]: Taking taylor expansion of 0.25 in lambda1 23.685 * [backup-simplify]: Simplify 0.25 into 0.25 23.685 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.685 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.685 * [backup-simplify]: Simplify lambda2 into lambda2 23.685 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 23.685 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 23.685 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 23.685 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 23.685 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.685 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.685 * [backup-simplify]: Simplify 0 into 0 23.685 * [backup-simplify]: Simplify 1 into 1 23.685 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.685 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.685 * [backup-simplify]: Simplify lambda2 into lambda2 23.685 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 23.685 * [taylor]: Taking taylor expansion of 2 in lambda1 23.685 * [backup-simplify]: Simplify 2 into 2 23.685 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 23.685 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.685 * [backup-simplify]: Simplify lambda2 into lambda2 23.685 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.685 * [backup-simplify]: Simplify 0 into 0 23.685 * [backup-simplify]: Simplify 1 into 1 23.686 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.686 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 23.686 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.686 * [backup-simplify]: Simplify (* 2 0) into 0 23.687 * [backup-simplify]: Simplify (- 0) into 0 23.687 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 23.687 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 23.687 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 23.687 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.688 * [backup-simplify]: Simplify (+ 0 0) into 0 23.688 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 23.689 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 23.689 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 23.689 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 23.689 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 23.689 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 23.690 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.690 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.690 * [backup-simplify]: Simplify (+ 0 1) into 1 23.691 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.691 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 23.691 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda2 2))) into (* 0.25 (pow lambda2 2)) 23.691 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda2 2))) into (- (* 0.25 (pow lambda2 2))) 23.691 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda2 2)))) into (- 1 (* 0.25 (pow lambda2 2))) 23.692 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda2 2))) (/ 1 lambda2)) into (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) 23.692 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) 23.692 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) in lambda2 23.692 * [taylor]: Taking taylor expansion of 1/2 in lambda2 23.692 * [backup-simplify]: Simplify 1/2 into 1/2 23.692 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) in lambda2 23.692 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda2 2))) in lambda2 23.692 * [taylor]: Taking taylor expansion of 1 in lambda2 23.692 * [backup-simplify]: Simplify 1 into 1 23.692 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 23.692 * [taylor]: Taking taylor expansion of 0.25 in lambda2 23.692 * [backup-simplify]: Simplify 0.25 into 0.25 23.692 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.692 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.692 * [backup-simplify]: Simplify 0 into 0 23.692 * [backup-simplify]: Simplify 1 into 1 23.692 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.692 * [backup-simplify]: Simplify 0 into 0 23.692 * [backup-simplify]: Simplify 1 into 1 23.693 * [backup-simplify]: Simplify (+ 1 0) into 1 23.693 * [backup-simplify]: Simplify (/ 1 1) into 1 23.694 * [backup-simplify]: Simplify (+ 0 0) into 0 23.694 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 23.695 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 23.695 * [backup-simplify]: Simplify 0 into 0 23.695 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 23.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.698 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* lambda2 lambda1))) into (* 0.5 (* lambda2 lambda1)) 23.699 * [backup-simplify]: Simplify (+ 0) into 0 23.699 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 0.5 (* lambda2 lambda1)) 23.700 * [backup-simplify]: Simplify (+ (* 2.0 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 1.0 (* lambda2 lambda1)) 23.700 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 23.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.702 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 23.703 * [backup-simplify]: Simplify (+ 0) into 0 23.703 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 23.704 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 23.704 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 23.707 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 23.707 * [backup-simplify]: Simplify (+ 0) into 0 23.708 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 23.708 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 23.709 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2 23.709 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda2 2)) 2) into (+ (* 0.5 (pow lambda2 2)) 2) 23.710 * [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)) 23.710 * [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))) 23.711 * [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))))) 23.712 * [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)))))) 23.714 * [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)))))))) 23.714 * [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 lambda1 23.714 * [taylor]: Taking taylor expansion of (* 0.5 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (* lambda2 lambda1))) in lambda1 23.714 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.714 * [backup-simplify]: Simplify 0.5 into 0.5 23.714 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (* lambda2 lambda1)) in lambda1 23.714 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 23.714 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 23.714 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 23.714 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 23.714 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.714 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.714 * [backup-simplify]: Simplify 0 into 0 23.714 * [backup-simplify]: Simplify 1 into 1 23.714 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.714 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.714 * [backup-simplify]: Simplify lambda2 into lambda2 23.714 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 23.714 * [taylor]: Taking taylor expansion of 2 in lambda1 23.714 * [backup-simplify]: Simplify 2 into 2 23.714 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 23.714 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.714 * [backup-simplify]: Simplify lambda2 into lambda2 23.714 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.714 * [backup-simplify]: Simplify 0 into 0 23.714 * [backup-simplify]: Simplify 1 into 1 23.714 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.715 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 23.715 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.715 * [backup-simplify]: Simplify (* 2 0) into 0 23.715 * [backup-simplify]: Simplify (- 0) into 0 23.715 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 23.715 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 23.715 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 23.715 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.716 * [backup-simplify]: Simplify (+ 0 0) into 0 23.716 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 23.716 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 23.716 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 23.716 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 23.717 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 23.717 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 23.717 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 23.717 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.717 * [backup-simplify]: Simplify lambda2 into lambda2 23.717 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.717 * [backup-simplify]: Simplify 0 into 0 23.717 * [backup-simplify]: Simplify 1 into 1 23.717 * [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 lambda1 23.717 * [taylor]: Taking taylor expansion of (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2))) in lambda1 23.717 * [taylor]: Taking taylor expansion of 0.25 in lambda1 23.717 * [backup-simplify]: Simplify 0.25 into 0.25 23.717 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2)) in lambda1 23.717 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 23.717 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 23.717 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 23.717 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 23.717 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.717 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.717 * [backup-simplify]: Simplify 0 into 0 23.717 * [backup-simplify]: Simplify 1 into 1 23.717 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.717 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.717 * [backup-simplify]: Simplify lambda2 into lambda2 23.717 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 23.717 * [taylor]: Taking taylor expansion of 2 in lambda1 23.717 * [backup-simplify]: Simplify 2 into 2 23.717 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 23.717 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.717 * [backup-simplify]: Simplify lambda2 into lambda2 23.717 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.717 * [backup-simplify]: Simplify 0 into 0 23.717 * [backup-simplify]: Simplify 1 into 1 23.717 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.717 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 23.718 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.718 * [backup-simplify]: Simplify (* 2 0) into 0 23.718 * [backup-simplify]: Simplify (- 0) into 0 23.718 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 23.718 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 23.718 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 23.718 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.719 * [backup-simplify]: Simplify (+ 0 0) into 0 23.719 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 23.719 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 23.719 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 23.719 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 23.720 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 23.720 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 23.720 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.720 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.720 * [backup-simplify]: Simplify lambda2 into lambda2 23.720 * [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 lambda1 23.720 * [taylor]: Taking taylor expansion of (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2))) in lambda1 23.720 * [taylor]: Taking taylor expansion of 0.25 in lambda1 23.720 * [backup-simplify]: Simplify 0.25 into 0.25 23.720 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2)) in lambda1 23.720 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 23.720 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 23.720 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 23.720 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 23.720 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.720 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.720 * [backup-simplify]: Simplify 0 into 0 23.720 * [backup-simplify]: Simplify 1 into 1 23.720 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.720 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.720 * [backup-simplify]: Simplify lambda2 into lambda2 23.720 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 23.720 * [taylor]: Taking taylor expansion of 2 in lambda1 23.720 * [backup-simplify]: Simplify 2 into 2 23.720 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 23.720 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.720 * [backup-simplify]: Simplify lambda2 into lambda2 23.720 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.720 * [backup-simplify]: Simplify 0 into 0 23.720 * [backup-simplify]: Simplify 1 into 1 23.720 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.720 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 23.720 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.721 * [backup-simplify]: Simplify (* 2 0) into 0 23.721 * [backup-simplify]: Simplify (- 0) into 0 23.721 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 23.721 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 23.721 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 23.721 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.721 * [backup-simplify]: Simplify (+ 0 0) into 0 23.722 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 23.722 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 23.722 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 23.722 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 23.722 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 23.723 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 23.723 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.723 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.723 * [backup-simplify]: Simplify 0 into 0 23.723 * [backup-simplify]: Simplify 1 into 1 23.723 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 23.723 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 23.723 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 23.723 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 23.723 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.723 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.723 * [backup-simplify]: Simplify 0 into 0 23.723 * [backup-simplify]: Simplify 1 into 1 23.723 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.723 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.723 * [backup-simplify]: Simplify lambda2 into lambda2 23.723 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 23.723 * [taylor]: Taking taylor expansion of 2 in lambda1 23.723 * [backup-simplify]: Simplify 2 into 2 23.723 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 23.723 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.723 * [backup-simplify]: Simplify lambda2 into lambda2 23.723 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.723 * [backup-simplify]: Simplify 0 into 0 23.723 * [backup-simplify]: Simplify 1 into 1 23.723 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.723 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 23.723 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.723 * [backup-simplify]: Simplify (* 2 0) into 0 23.724 * [backup-simplify]: Simplify (- 0) into 0 23.724 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 23.724 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 23.724 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 23.724 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.724 * [backup-simplify]: Simplify (+ 0 0) into 0 23.724 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 23.725 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 23.725 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 23.725 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 23.725 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 23.725 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 23.725 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.725 * [backup-simplify]: Simplify (* (/ 1 lambda2) 0) into 0 23.726 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.726 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.726 * [backup-simplify]: Simplify (* (/ 1 lambda2) (pow lambda2 2)) into lambda2 23.726 * [backup-simplify]: Simplify (* 0.25 lambda2) into (* 0.25 lambda2) 23.726 * [backup-simplify]: Simplify (+ 0 (/ 1 lambda2)) into (/ 1 lambda2) 23.726 * [backup-simplify]: Simplify (+ (* 0.25 lambda2) (/ 1 lambda2)) into (+ (* 0.25 lambda2) (/ 1 lambda2)) 23.726 * [backup-simplify]: Simplify (- (+ (* 0.25 lambda2) (/ 1 lambda2))) into (- (+ (* 0.25 lambda2) (/ 1 lambda2))) 23.726 * [backup-simplify]: Simplify (+ 0 (- (+ (* 0.25 lambda2) (/ 1 lambda2)))) into (- (+ (* 0.25 lambda2) (/ 1 lambda2))) 23.726 * [taylor]: Taking taylor expansion of (- (+ (* 0.25 lambda2) (/ 1 lambda2))) in lambda2 23.726 * [taylor]: Taking taylor expansion of (+ (* 0.25 lambda2) (/ 1 lambda2)) in lambda2 23.726 * [taylor]: Taking taylor expansion of (* 0.25 lambda2) in lambda2 23.726 * [taylor]: Taking taylor expansion of 0.25 in lambda2 23.726 * [backup-simplify]: Simplify 0.25 into 0.25 23.726 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.726 * [backup-simplify]: Simplify 0 into 0 23.726 * [backup-simplify]: Simplify 1 into 1 23.726 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 23.726 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.726 * [backup-simplify]: Simplify 0 into 0 23.726 * [backup-simplify]: Simplify 1 into 1 23.727 * [backup-simplify]: Simplify (/ 1 1) into 1 23.727 * [backup-simplify]: Simplify (* 0.25 0) into 0 23.727 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 23.728 * [backup-simplify]: Simplify (+ 0 0) into 0 23.728 * [backup-simplify]: Simplify (- 0) into 0 23.728 * [backup-simplify]: Simplify 0 into 0 23.728 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 23.730 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 23.733 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 23.733 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda2 2)))) into (- (* 0.25 (pow lambda2 2))) 23.734 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 23.736 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 23.743 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 23.744 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 23.745 * [backup-simplify]: Simplify (* 1 1) into 1 23.745 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda1 2))) 1) into (- 1 (* 0.25 (pow lambda1 2))) 23.745 * [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)))) 23.745 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 23.747 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 23.749 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 23.750 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* lambda2 lambda1)))) into (- (* 0.25 (* lambda2 lambda1))) 23.750 * [backup-simplify]: Simplify (+ (* 2 (- (* 0.25 (* lambda2 lambda1)))) (+ (* 0 0) (* 0 (* lambda2 lambda1)))) into (- (* 0.5 (* lambda2 lambda1))) 23.750 * [backup-simplify]: Simplify (- (- (* 0.5 (* lambda2 lambda1)))) into (* 0.5 (* lambda2 lambda1)) 23.751 * [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)))) 23.752 * [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))))))) 23.752 * [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 lambda1 23.752 * [taylor]: Taking taylor expansion of 1/2 in lambda1 23.752 * [backup-simplify]: Simplify 1/2 into 1/2 23.752 * [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 lambda1 23.752 * [taylor]: Taking taylor expansion of (- (+ 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda1 23.752 * [taylor]: Taking taylor expansion of (+ 1 (* 0.5 (* lambda2 lambda1))) in lambda1 23.752 * [taylor]: Taking taylor expansion of 1 in lambda1 23.752 * [backup-simplify]: Simplify 1 into 1 23.752 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda1 23.752 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.752 * [backup-simplify]: Simplify 0.5 into 0.5 23.752 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 23.752 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.752 * [backup-simplify]: Simplify lambda2 into lambda2 23.752 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.752 * [backup-simplify]: Simplify 0 into 0 23.752 * [backup-simplify]: Simplify 1 into 1 23.752 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda1 23.752 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 23.752 * [taylor]: Taking taylor expansion of 0.25 in lambda1 23.752 * [backup-simplify]: Simplify 0.25 into 0.25 23.752 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.752 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.752 * [backup-simplify]: Simplify 0 into 0 23.752 * [backup-simplify]: Simplify 1 into 1 23.752 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda1 23.752 * [taylor]: Taking taylor expansion of 0.25 in lambda1 23.752 * [backup-simplify]: Simplify 0.25 into 0.25 23.752 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.752 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.752 * [backup-simplify]: Simplify lambda2 into lambda2 23.752 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 23.752 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 23.752 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 23.752 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 23.752 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.752 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.752 * [backup-simplify]: Simplify 0 into 0 23.752 * [backup-simplify]: Simplify 1 into 1 23.752 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.752 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.752 * [backup-simplify]: Simplify lambda2 into lambda2 23.752 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 23.752 * [taylor]: Taking taylor expansion of 2 in lambda1 23.753 * [backup-simplify]: Simplify 2 into 2 23.753 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 23.753 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.753 * [backup-simplify]: Simplify lambda2 into lambda2 23.753 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.753 * [backup-simplify]: Simplify 0 into 0 23.753 * [backup-simplify]: Simplify 1 into 1 23.753 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.753 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 23.753 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.753 * [backup-simplify]: Simplify (* 2 0) into 0 23.753 * [backup-simplify]: Simplify (- 0) into 0 23.753 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 23.753 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 23.754 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 23.754 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 23.754 * [backup-simplify]: Simplify (+ 0 0) into 0 23.754 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 23.754 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 23.754 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 23.755 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 23.755 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 23.755 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 23.755 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.755 * [backup-simplify]: Simplify (* 0.5 0) into 0 23.756 * [backup-simplify]: Simplify (+ 1 0) into 1 23.756 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.756 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 23.756 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda2 2))) into (* 0.25 (pow lambda2 2)) 23.756 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda2 2))) into (- (* 0.25 (pow lambda2 2))) 23.756 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda2 2)))) into (- 1 (* 0.25 (pow lambda2 2))) 23.756 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda2 2))) (/ 1 lambda2)) into (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) 23.756 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) 23.756 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) in lambda2 23.756 * [taylor]: Taking taylor expansion of 1/2 in lambda2 23.756 * [backup-simplify]: Simplify 1/2 into 1/2 23.756 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) in lambda2 23.756 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda2 2))) in lambda2 23.756 * [taylor]: Taking taylor expansion of 1 in lambda2 23.757 * [backup-simplify]: Simplify 1 into 1 23.757 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 23.757 * [taylor]: Taking taylor expansion of 0.25 in lambda2 23.757 * [backup-simplify]: Simplify 0.25 into 0.25 23.757 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.757 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.757 * [backup-simplify]: Simplify 0 into 0 23.757 * [backup-simplify]: Simplify 1 into 1 23.757 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.757 * [backup-simplify]: Simplify 0 into 0 23.757 * [backup-simplify]: Simplify 1 into 1 23.757 * [backup-simplify]: Simplify (+ 1 0) into 1 23.757 * [backup-simplify]: Simplify (/ 1 1) into 1 23.757 * [backup-simplify]: Simplify (+ 0 0) into 0 23.758 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 23.758 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 23.758 * [backup-simplify]: Simplify 0 into 0 23.758 * [taylor]: Taking taylor expansion of 0 in lambda2 23.758 * [backup-simplify]: Simplify 0 into 0 23.758 * [backup-simplify]: Simplify 0 into 0 23.758 * [taylor]: Taking taylor expansion of 0 in lambda2 23.758 * [backup-simplify]: Simplify 0 into 0 23.758 * [backup-simplify]: Simplify 0 into 0 23.759 * [backup-simplify]: Simplify (* 1 1) into 1 23.759 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 23.759 * [backup-simplify]: Simplify (+ 1 0) into 1 23.760 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 23.760 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 lambda2) (* 0 0))) into 0 23.760 * [backup-simplify]: Simplify (- 0) into 0 23.761 * [backup-simplify]: Simplify (+ 1 0) into 1 23.761 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 lambda2)) into 0 23.761 * [taylor]: Taking taylor expansion of 0 in lambda2 23.761 * [backup-simplify]: Simplify 0 into 0 23.761 * [backup-simplify]: Simplify 0 into 0 23.762 * [backup-simplify]: Simplify (+ (* 1 (* lambda2 (* 1 (* 1 1)))) (* -1 (* 1 (* lambda1 (* 1 1))))) into (- lambda2 lambda1) 23.764 * [backup-simplify]: Simplify (sqrt (+ (- (* (pow (- (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5))) (* (sin (* 0.5 (/ 1 phi2))) (sin (* 0.5 (/ 1 phi1))))) 2) (+ (pow (/ 1 lambda1) 2) (pow (/ 1 lambda2) 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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) 23.764 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in (phi2 phi1 lambda1 lambda2) around 0 23.764 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in lambda2 23.764 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda2 23.764 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in lambda2 23.764 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 23.764 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 23.764 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 23.764 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 23.764 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 23.764 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.764 * [backup-simplify]: Simplify 0.5 into 0.5 23.764 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.764 * [backup-simplify]: Simplify phi1 into phi1 23.764 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.764 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.764 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.765 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.765 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.765 * [backup-simplify]: Simplify (- 0) into 0 23.765 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.765 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 23.765 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 23.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 23.765 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.765 * [backup-simplify]: Simplify 0.5 into 0.5 23.765 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.765 * [backup-simplify]: Simplify phi2 into phi2 23.766 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.766 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 23.766 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 23.766 * [backup-simplify]: Simplify (- 0) into 0 23.766 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 23.766 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.766 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.766 * [backup-simplify]: Simplify 0 into 0 23.767 * [backup-simplify]: Simplify 1 into 1 23.767 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 23.767 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 23.767 * [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)) 23.768 * [backup-simplify]: Simplify (* 1 1) into 1 23.768 * [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)) 23.768 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in lambda2 23.768 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2 23.768 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 23.768 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 23.768 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 23.768 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 23.768 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.768 * [backup-simplify]: Simplify 0.5 into 0.5 23.768 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.768 * [backup-simplify]: Simplify phi1 into phi1 23.768 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.769 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.769 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.769 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.769 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.769 * [backup-simplify]: Simplify (- 0) into 0 23.769 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.769 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 23.769 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 23.769 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 23.769 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.770 * [backup-simplify]: Simplify 0.5 into 0.5 23.770 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.770 * [backup-simplify]: Simplify phi2 into phi2 23.770 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.770 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.770 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.770 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 23.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 23.770 * [backup-simplify]: Simplify (- 0) into 0 23.771 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 23.771 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 23.771 * [taylor]: Taking taylor expansion of lambda1 in lambda2 23.771 * [backup-simplify]: Simplify lambda1 into lambda1 23.771 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 23.771 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 23.771 * [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)) 23.771 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.772 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 23.772 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda2 23.772 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 23.772 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 23.772 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.772 * [backup-simplify]: Simplify phi2 into phi2 23.772 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 23.772 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 23.772 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2 23.772 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2 23.772 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 23.772 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 23.772 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 23.772 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 23.772 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.772 * [backup-simplify]: Simplify 0.5 into 0.5 23.773 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.773 * [backup-simplify]: Simplify phi1 into phi1 23.773 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.773 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.773 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.773 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.773 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.773 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.773 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 23.773 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 23.773 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 23.773 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.773 * [backup-simplify]: Simplify 0.5 into 0.5 23.773 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.773 * [backup-simplify]: Simplify phi2 into phi2 23.773 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.774 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.774 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.774 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 23.774 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 23.774 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 23.774 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 23.774 * [taylor]: Taking taylor expansion of lambda1 in lambda2 23.774 * [backup-simplify]: Simplify lambda1 into lambda1 23.774 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 23.774 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 23.775 * [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)) 23.775 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.775 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 23.775 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2 23.775 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 23.775 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 23.775 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.775 * [backup-simplify]: Simplify phi1 into phi1 23.775 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 23.776 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 23.776 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 23.776 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 23.776 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 23.776 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 23.776 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 23.776 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.776 * [backup-simplify]: Simplify 0.5 into 0.5 23.776 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.776 * [backup-simplify]: Simplify phi1 into phi1 23.776 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.776 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.776 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.776 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.776 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.776 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.777 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 23.777 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 23.777 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 23.777 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.777 * [backup-simplify]: Simplify 0.5 into 0.5 23.777 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.777 * [backup-simplify]: Simplify phi2 into phi2 23.777 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.777 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.777 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.777 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 23.777 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 23.777 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 23.777 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.777 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.777 * [backup-simplify]: Simplify 0 into 0 23.777 * [backup-simplify]: Simplify 1 into 1 23.778 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 23.778 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 23.778 * [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)) 23.779 * [backup-simplify]: Simplify (* 1 1) into 1 23.779 * [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)) 23.779 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda2 23.779 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 23.779 * [taylor]: Taking taylor expansion of 2 in lambda2 23.779 * [backup-simplify]: Simplify 2 into 2 23.779 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 23.779 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 23.780 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 23.780 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 23.780 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.780 * [backup-simplify]: Simplify 0.5 into 0.5 23.780 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 23.780 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 23.780 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.780 * [backup-simplify]: Simplify phi1 into phi1 23.780 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 23.780 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 23.780 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.780 * [backup-simplify]: Simplify phi2 into phi2 23.780 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 23.780 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 23.780 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 23.780 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 23.781 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 23.781 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 23.781 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 23.781 * [backup-simplify]: Simplify (- 0) into 0 23.782 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 23.782 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 23.782 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.782 * [backup-simplify]: Simplify 0 into 0 23.782 * [backup-simplify]: Simplify 1 into 1 23.782 * [taylor]: Taking taylor expansion of lambda1 in lambda2 23.782 * [backup-simplify]: Simplify lambda1 into lambda1 23.782 * [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) 23.782 * [backup-simplify]: Simplify (* 0 lambda1) into 0 23.783 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 23.783 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 23.783 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda2 23.783 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 23.783 * [taylor]: Taking taylor expansion of 2 in lambda2 23.783 * [backup-simplify]: Simplify 2 into 2 23.783 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 23.783 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 23.783 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.783 * [backup-simplify]: Simplify phi2 into phi2 23.783 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.783 * [backup-simplify]: Simplify phi1 into phi1 23.783 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 23.783 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 23.783 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda2 23.784 * [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 23.784 * [taylor]: Taking taylor expansion of 2 in lambda2 23.784 * [backup-simplify]: Simplify 2 into 2 23.784 * [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 23.784 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 23.784 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 23.784 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 23.784 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.784 * [backup-simplify]: Simplify 0.5 into 0.5 23.784 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.784 * [backup-simplify]: Simplify phi1 into phi1 23.784 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.784 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.784 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.784 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 23.784 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 23.784 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 23.784 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.784 * [backup-simplify]: Simplify 0.5 into 0.5 23.784 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.784 * [backup-simplify]: Simplify phi1 into phi1 23.784 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.785 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.785 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.785 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 23.785 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 23.785 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 23.785 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.785 * [backup-simplify]: Simplify 0.5 into 0.5 23.785 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.785 * [backup-simplify]: Simplify phi2 into phi2 23.785 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.785 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.785 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.785 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 23.785 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 23.785 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.785 * [backup-simplify]: Simplify 0.5 into 0.5 23.785 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.785 * [backup-simplify]: Simplify phi2 into phi2 23.785 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.785 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.785 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.786 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.786 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.786 * [backup-simplify]: Simplify 0 into 0 23.786 * [backup-simplify]: Simplify 1 into 1 23.786 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.786 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.786 * [backup-simplify]: Simplify (- 0) into 0 23.786 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.786 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.787 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.787 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.787 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 23.787 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 23.787 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 23.787 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 23.787 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 23.788 * [backup-simplify]: Simplify (- 0) into 0 23.788 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 23.788 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 23.788 * [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)))) 23.788 * [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))))) 23.789 * [backup-simplify]: Simplify (* 1 1) into 1 23.789 * [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))))) 23.789 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda2 23.789 * [taylor]: Taking taylor expansion of 2 in lambda2 23.789 * [backup-simplify]: Simplify 2 into 2 23.789 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda2 23.789 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 23.790 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 23.790 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 23.790 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.790 * [backup-simplify]: Simplify 0.5 into 0.5 23.790 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.790 * [backup-simplify]: Simplify phi1 into phi1 23.790 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.790 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.790 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.790 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 23.790 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 23.790 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 23.790 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.790 * [backup-simplify]: Simplify 0.5 into 0.5 23.790 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.790 * [backup-simplify]: Simplify phi1 into phi1 23.790 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.790 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.790 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.790 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 23.790 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 23.791 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 23.791 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.791 * [backup-simplify]: Simplify 0.5 into 0.5 23.791 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.791 * [backup-simplify]: Simplify phi2 into phi2 23.791 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.791 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.791 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.791 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 23.791 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 23.791 * [taylor]: Taking taylor expansion of 0.5 in lambda2 23.791 * [backup-simplify]: Simplify 0.5 into 0.5 23.791 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.791 * [backup-simplify]: Simplify phi2 into phi2 23.791 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.791 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.791 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.791 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 23.791 * [taylor]: Taking taylor expansion of lambda1 in lambda2 23.791 * [backup-simplify]: Simplify lambda1 into lambda1 23.792 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.792 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.792 * [backup-simplify]: Simplify (- 0) into 0 23.792 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.792 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.792 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.792 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.793 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 23.793 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 23.793 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 23.793 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 23.793 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 23.793 * [backup-simplify]: Simplify (- 0) into 0 23.794 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 23.794 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 23.794 * [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)))) 23.794 * [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))))) 23.794 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.795 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 23.795 * [backup-simplify]: Simplify (+ 0 (* (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)) 23.796 * [backup-simplify]: Simplify (+ 0 (* (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)) 23.796 * [backup-simplify]: Simplify (+ 0 (* (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)) 23.797 * [backup-simplify]: Simplify (+ 0 (* (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)) 23.797 * [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))) 23.798 * [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)))))) 23.798 * [backup-simplify]: Simplify (+ (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 0) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 23.799 * [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)))))) 23.799 * [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)))))) 23.800 * [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))))))) 23.801 * [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))))))) 23.802 * [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)))))))) 23.803 * [backup-simplify]: Simplify (+ 0) into 0 23.804 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 23.804 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 23.804 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.804 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 23.805 * [backup-simplify]: Simplify (- 0) into 0 23.805 * [backup-simplify]: Simplify (+ 0 0) into 0 23.805 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 23.805 * [backup-simplify]: Simplify (+ 0) into 0 23.806 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 23.806 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 23.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.806 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 23.807 * [backup-simplify]: Simplify (- 0) into 0 23.807 * [backup-simplify]: Simplify (+ 0 0) into 0 23.807 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 23.807 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 23.808 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.809 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 23.809 * [backup-simplify]: Simplify (+ 0) into 0 23.809 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 23.809 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 23.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.810 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 23.810 * [backup-simplify]: Simplify (+ 0 0) into 0 23.810 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 23.811 * [backup-simplify]: Simplify (+ 0) into 0 23.811 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 23.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 23.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.812 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 23.812 * [backup-simplify]: Simplify (+ 0 0) into 0 23.812 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 23.812 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 23.813 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.813 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 23.814 * [backup-simplify]: Simplify (+ 0 0) into 0 23.814 * [backup-simplify]: Simplify (+ 0 0) into 0 23.814 * [backup-simplify]: Simplify (+ 0 0) into 0 23.814 * [backup-simplify]: Simplify (+ 0 0) into 0 23.815 * [backup-simplify]: Simplify (+ 0 0) into 0 23.815 * [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)) 23.815 * [backup-simplify]: Simplify (+ 0) into 0 23.815 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 23.815 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 23.816 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.816 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 23.816 * [backup-simplify]: Simplify (- 0) into 0 23.817 * [backup-simplify]: Simplify (+ 0 0) into 0 23.817 * [backup-simplify]: Simplify (+ 0) into 0 23.817 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 23.817 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 23.818 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.818 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 23.818 * [backup-simplify]: Simplify (+ 0 0) into 0 23.818 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 23.819 * [backup-simplify]: Simplify (+ 0) into 0 23.819 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 23.819 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 23.820 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.820 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 23.820 * [backup-simplify]: Simplify (+ 0 0) into 0 23.820 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 23.820 * [backup-simplify]: Simplify (+ 0) into 0 23.821 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 23.821 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 23.821 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.822 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 23.822 * [backup-simplify]: Simplify (- 0) into 0 23.822 * [backup-simplify]: Simplify (+ 0 0) into 0 23.822 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 23.823 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.823 * [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 23.824 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 23.824 * [backup-simplify]: Simplify (+ 0 0) into 0 23.824 * [backup-simplify]: Simplify (+ 0 0) into 0 23.825 * [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)) 23.825 * [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))) 23.825 * [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))) 23.826 * [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))) 23.826 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in lambda1 23.826 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda1 23.826 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in lambda1 23.826 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 23.826 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 23.826 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 23.826 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 23.826 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 23.826 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.826 * [backup-simplify]: Simplify 0.5 into 0.5 23.826 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.826 * [backup-simplify]: Simplify phi1 into phi1 23.827 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.827 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.827 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.827 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.827 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.827 * [backup-simplify]: Simplify (- 0) into 0 23.827 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.827 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 23.827 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 23.827 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 23.827 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.827 * [backup-simplify]: Simplify 0.5 into 0.5 23.827 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.827 * [backup-simplify]: Simplify phi2 into phi2 23.827 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.827 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.827 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.827 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 23.828 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 23.828 * [backup-simplify]: Simplify (- 0) into 0 23.828 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 23.828 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.828 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.828 * [backup-simplify]: Simplify lambda2 into lambda2 23.828 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 23.828 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 23.828 * [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)) 23.828 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.829 * [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)) 23.829 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in lambda1 23.829 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 23.829 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 23.829 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 23.829 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 23.829 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 23.829 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.829 * [backup-simplify]: Simplify 0.5 into 0.5 23.829 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.829 * [backup-simplify]: Simplify phi1 into phi1 23.829 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.829 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.829 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.829 * [backup-simplify]: Simplify (- 0) into 0 23.829 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.829 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 23.829 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 23.829 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 23.829 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.829 * [backup-simplify]: Simplify 0.5 into 0.5 23.830 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.830 * [backup-simplify]: Simplify phi2 into phi2 23.830 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.830 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.830 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.830 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 23.830 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 23.830 * [backup-simplify]: Simplify (- 0) into 0 23.830 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 23.830 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.830 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.830 * [backup-simplify]: Simplify 0 into 0 23.830 * [backup-simplify]: Simplify 1 into 1 23.830 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 23.831 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 23.831 * [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)) 23.831 * [backup-simplify]: Simplify (* 1 1) into 1 23.831 * [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)) 23.831 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1 23.831 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 23.831 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 23.831 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.831 * [backup-simplify]: Simplify phi2 into phi2 23.831 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 23.832 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 23.832 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 23.832 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 23.832 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 23.832 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 23.832 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 23.832 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 23.832 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.832 * [backup-simplify]: Simplify 0.5 into 0.5 23.832 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.832 * [backup-simplify]: Simplify phi1 into phi1 23.832 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.832 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.832 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.832 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.832 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.832 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.832 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 23.833 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 23.833 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 23.833 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.833 * [backup-simplify]: Simplify 0.5 into 0.5 23.833 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.833 * [backup-simplify]: Simplify phi2 into phi2 23.833 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.833 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.833 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.833 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 23.833 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 23.833 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 23.833 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.833 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.833 * [backup-simplify]: Simplify 0 into 0 23.833 * [backup-simplify]: Simplify 1 into 1 23.834 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 23.834 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 23.834 * [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)) 23.835 * [backup-simplify]: Simplify (* 1 1) into 1 23.835 * [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)) 23.835 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 23.835 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 23.835 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 23.835 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.835 * [backup-simplify]: Simplify phi1 into phi1 23.835 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 23.835 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 23.835 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 23.835 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 23.835 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 23.835 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 23.836 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 23.836 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.836 * [backup-simplify]: Simplify 0.5 into 0.5 23.836 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.836 * [backup-simplify]: Simplify phi1 into phi1 23.836 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.836 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.836 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.836 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.836 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.836 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.836 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 23.836 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 23.836 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 23.836 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.836 * [backup-simplify]: Simplify 0.5 into 0.5 23.836 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.836 * [backup-simplify]: Simplify phi2 into phi2 23.837 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.837 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.837 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.837 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 23.837 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 23.837 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 23.837 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.837 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.837 * [backup-simplify]: Simplify lambda2 into lambda2 23.837 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 23.838 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 23.838 * [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)) 23.838 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.838 * [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)) 23.838 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1 23.839 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 23.839 * [taylor]: Taking taylor expansion of 2 in lambda1 23.839 * [backup-simplify]: Simplify 2 into 2 23.839 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 23.839 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 23.839 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 23.839 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 23.839 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.839 * [backup-simplify]: Simplify 0.5 into 0.5 23.839 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 23.839 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 23.839 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.839 * [backup-simplify]: Simplify phi1 into phi1 23.839 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 23.839 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 23.839 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.839 * [backup-simplify]: Simplify phi2 into phi2 23.839 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 23.839 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 23.839 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 23.840 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 23.840 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 23.840 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 23.840 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 23.841 * [backup-simplify]: Simplify (- 0) into 0 23.841 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 23.841 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 23.841 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.841 * [backup-simplify]: Simplify lambda2 into lambda2 23.841 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.841 * [backup-simplify]: Simplify 0 into 0 23.841 * [backup-simplify]: Simplify 1 into 1 23.841 * [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) 23.842 * [backup-simplify]: Simplify (* lambda2 0) into 0 23.842 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 23.842 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 23.842 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1 23.842 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 23.842 * [taylor]: Taking taylor expansion of 2 in lambda1 23.842 * [backup-simplify]: Simplify 2 into 2 23.842 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 23.842 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 23.843 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.843 * [backup-simplify]: Simplify phi2 into phi2 23.843 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.843 * [backup-simplify]: Simplify phi1 into phi1 23.843 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 23.843 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 23.843 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1 23.843 * [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 23.843 * [taylor]: Taking taylor expansion of 2 in lambda1 23.843 * [backup-simplify]: Simplify 2 into 2 23.843 * [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 23.843 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 23.843 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 23.843 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 23.843 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.843 * [backup-simplify]: Simplify 0.5 into 0.5 23.843 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.843 * [backup-simplify]: Simplify phi1 into phi1 23.843 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.843 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.843 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.843 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 23.844 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 23.844 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 23.844 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.844 * [backup-simplify]: Simplify 0.5 into 0.5 23.844 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.844 * [backup-simplify]: Simplify phi1 into phi1 23.844 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.844 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.844 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.844 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 23.844 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 23.844 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 23.844 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.844 * [backup-simplify]: Simplify 0.5 into 0.5 23.844 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.844 * [backup-simplify]: Simplify phi2 into phi2 23.844 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.844 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.844 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.844 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 23.844 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 23.844 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.845 * [backup-simplify]: Simplify 0.5 into 0.5 23.845 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.845 * [backup-simplify]: Simplify phi2 into phi2 23.845 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.845 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.845 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.845 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 23.845 * [taylor]: Taking taylor expansion of lambda2 in lambda1 23.845 * [backup-simplify]: Simplify lambda2 into lambda2 23.845 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.845 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.846 * [backup-simplify]: Simplify (- 0) into 0 23.846 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.846 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.846 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.846 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.846 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 23.846 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 23.846 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 23.847 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 23.847 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 23.847 * [backup-simplify]: Simplify (- 0) into 0 23.847 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 23.847 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 23.848 * [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)))) 23.848 * [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))))) 23.848 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.849 * [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)) 23.849 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1 23.849 * [taylor]: Taking taylor expansion of 2 in lambda1 23.849 * [backup-simplify]: Simplify 2 into 2 23.849 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1 23.849 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 23.849 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 23.849 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 23.849 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.849 * [backup-simplify]: Simplify 0.5 into 0.5 23.849 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.849 * [backup-simplify]: Simplify phi1 into phi1 23.849 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.849 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.849 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.849 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 23.849 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 23.849 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 23.849 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.849 * [backup-simplify]: Simplify 0.5 into 0.5 23.850 * [taylor]: Taking taylor expansion of phi1 in lambda1 23.850 * [backup-simplify]: Simplify phi1 into phi1 23.850 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.850 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.850 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.850 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 23.850 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 23.850 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 23.850 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.850 * [backup-simplify]: Simplify 0.5 into 0.5 23.850 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.850 * [backup-simplify]: Simplify phi2 into phi2 23.850 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.850 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.850 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.850 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 23.850 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 23.850 * [taylor]: Taking taylor expansion of 0.5 in lambda1 23.850 * [backup-simplify]: Simplify 0.5 into 0.5 23.850 * [taylor]: Taking taylor expansion of phi2 in lambda1 23.850 * [backup-simplify]: Simplify phi2 into phi2 23.851 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.851 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.851 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.851 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 23.851 * [taylor]: Taking taylor expansion of lambda1 in lambda1 23.851 * [backup-simplify]: Simplify 0 into 0 23.851 * [backup-simplify]: Simplify 1 into 1 23.851 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.851 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.852 * [backup-simplify]: Simplify (- 0) into 0 23.852 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.852 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.852 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.852 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.852 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 23.852 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 23.852 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 23.853 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 23.853 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 23.853 * [backup-simplify]: Simplify (- 0) into 0 23.853 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 23.853 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 23.854 * [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)))) 23.854 * [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))))) 23.854 * [backup-simplify]: Simplify (* 1 1) into 1 23.855 * [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))))) 23.855 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 0) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 23.856 * [backup-simplify]: Simplify (+ 0 (* (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)) 23.857 * [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))) 23.857 * [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))) 23.858 * [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)))))) 23.858 * [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)))))) 23.859 * [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)))))) 23.859 * [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)))))) 23.860 * [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))))))) 23.861 * [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))))))) 23.863 * [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)))))))) 23.863 * [backup-simplify]: Simplify (+ 0) into 0 23.864 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 23.864 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 23.865 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.865 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 23.866 * [backup-simplify]: Simplify (- 0) into 0 23.866 * [backup-simplify]: Simplify (+ 0 0) into 0 23.866 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 23.867 * [backup-simplify]: Simplify (+ 0) into 0 23.867 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 23.867 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 23.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.869 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 23.869 * [backup-simplify]: Simplify (- 0) into 0 23.869 * [backup-simplify]: Simplify (+ 0 0) into 0 23.870 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 23.870 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 23.871 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.872 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 23.872 * [backup-simplify]: Simplify (+ 0) into 0 23.873 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 23.873 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 23.874 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.874 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 23.875 * [backup-simplify]: Simplify (+ 0 0) into 0 23.875 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 23.875 * [backup-simplify]: Simplify (+ 0) into 0 23.876 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 23.876 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 23.877 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.877 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 23.878 * [backup-simplify]: Simplify (+ 0 0) into 0 23.878 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 23.878 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 23.879 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.880 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 23.881 * [backup-simplify]: Simplify (+ 0 0) into 0 23.881 * [backup-simplify]: Simplify (+ 0 0) into 0 23.881 * [backup-simplify]: Simplify (+ 0 0) into 0 23.882 * [backup-simplify]: Simplify (+ 0 0) into 0 23.882 * [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)) 23.883 * [backup-simplify]: Simplify (+ 0) into 0 23.883 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 23.883 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 23.884 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.885 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 23.885 * [backup-simplify]: Simplify (- 0) into 0 23.885 * [backup-simplify]: Simplify (+ 0 0) into 0 23.886 * [backup-simplify]: Simplify (+ 0) into 0 23.893 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 23.893 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 23.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.895 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 23.895 * [backup-simplify]: Simplify (+ 0 0) into 0 23.895 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 23.896 * [backup-simplify]: Simplify (+ 0) into 0 23.896 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 23.896 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 23.897 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.898 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 23.898 * [backup-simplify]: Simplify (+ 0 0) into 0 23.898 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 23.899 * [backup-simplify]: Simplify (+ 0) into 0 23.899 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 23.899 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 23.900 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.901 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 23.901 * [backup-simplify]: Simplify (- 0) into 0 23.901 * [backup-simplify]: Simplify (+ 0 0) into 0 23.902 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 23.902 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.904 * [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 23.904 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 23.905 * [backup-simplify]: Simplify (+ 0 0) into 0 23.905 * [backup-simplify]: Simplify (+ 0 0) into 0 23.906 * [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)) 23.906 * [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))) 23.907 * [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))) 23.909 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 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 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 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)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 23.909 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in phi1 23.909 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi1 23.909 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in phi1 23.909 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 23.909 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 23.909 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 23.909 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 23.909 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 23.909 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.909 * [backup-simplify]: Simplify 0.5 into 0.5 23.909 * [taylor]: Taking taylor expansion of phi1 in phi1 23.909 * [backup-simplify]: Simplify 0 into 0 23.909 * [backup-simplify]: Simplify 1 into 1 23.910 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.910 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.910 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 23.910 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 23.910 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 23.910 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.910 * [backup-simplify]: Simplify 0.5 into 0.5 23.910 * [taylor]: Taking taylor expansion of phi2 in phi1 23.910 * [backup-simplify]: Simplify phi2 into phi2 23.910 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.910 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.911 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 23.911 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 23.911 * [backup-simplify]: Simplify (- 0) into 0 23.911 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 23.911 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.911 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.911 * [backup-simplify]: Simplify lambda2 into lambda2 23.912 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 23.912 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 23.912 * [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)) 23.912 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.913 * [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)) 23.913 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in phi1 23.913 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 23.913 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 23.913 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 23.913 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 23.913 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 23.913 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.913 * [backup-simplify]: Simplify 0.5 into 0.5 23.913 * [taylor]: Taking taylor expansion of phi1 in phi1 23.913 * [backup-simplify]: Simplify 0 into 0 23.913 * [backup-simplify]: Simplify 1 into 1 23.914 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.914 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.914 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 23.914 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 23.914 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 23.914 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.914 * [backup-simplify]: Simplify 0.5 into 0.5 23.914 * [taylor]: Taking taylor expansion of phi2 in phi1 23.914 * [backup-simplify]: Simplify phi2 into phi2 23.914 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.914 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.914 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.914 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 23.914 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 23.915 * [backup-simplify]: Simplify (- 0) into 0 23.915 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 23.915 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.915 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.915 * [backup-simplify]: Simplify lambda1 into lambda1 23.915 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 23.915 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 23.916 * [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)) 23.916 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.916 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 23.916 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi1 23.916 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 23.916 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 23.916 * [taylor]: Taking taylor expansion of phi2 in phi1 23.916 * [backup-simplify]: Simplify phi2 into phi2 23.916 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 23.917 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 23.917 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1 23.917 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 23.917 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 23.917 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 23.917 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 23.917 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 23.917 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.917 * [backup-simplify]: Simplify 0.5 into 0.5 23.917 * [taylor]: Taking taylor expansion of phi1 in phi1 23.917 * [backup-simplify]: Simplify 0 into 0 23.917 * [backup-simplify]: Simplify 1 into 1 23.917 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.918 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 23.918 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 23.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 23.918 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.918 * [backup-simplify]: Simplify 0.5 into 0.5 23.918 * [taylor]: Taking taylor expansion of phi2 in phi1 23.918 * [backup-simplify]: Simplify phi2 into phi2 23.918 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.918 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 23.918 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 23.918 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 23.918 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.918 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.918 * [backup-simplify]: Simplify lambda1 into lambda1 23.919 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 23.919 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 23.919 * [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)) 23.919 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.920 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 23.920 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1 23.920 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 23.920 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 23.920 * [taylor]: Taking taylor expansion of phi1 in phi1 23.920 * [backup-simplify]: Simplify 0 into 0 23.920 * [backup-simplify]: Simplify 1 into 1 23.920 * [backup-simplify]: Simplify (* 1 1) into 1 23.921 * [backup-simplify]: Simplify (/ 1 1) into 1 23.921 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 23.921 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 23.921 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 23.921 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 23.921 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 23.921 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.921 * [backup-simplify]: Simplify 0.5 into 0.5 23.921 * [taylor]: Taking taylor expansion of phi1 in phi1 23.921 * [backup-simplify]: Simplify 0 into 0 23.921 * [backup-simplify]: Simplify 1 into 1 23.921 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.922 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.922 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 23.922 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 23.922 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 23.922 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.922 * [backup-simplify]: Simplify 0.5 into 0.5 23.922 * [taylor]: Taking taylor expansion of phi2 in phi1 23.922 * [backup-simplify]: Simplify phi2 into phi2 23.922 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.922 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.922 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 23.922 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 23.922 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 23.922 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.922 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.922 * [backup-simplify]: Simplify lambda2 into lambda2 23.923 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 23.923 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 23.923 * [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)) 23.923 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.924 * [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)) 23.924 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi1 23.924 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 23.924 * [taylor]: Taking taylor expansion of 2 in phi1 23.924 * [backup-simplify]: Simplify 2 into 2 23.924 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 23.924 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 23.924 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 23.924 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 23.924 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.924 * [backup-simplify]: Simplify 0.5 into 0.5 23.924 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 23.924 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 23.924 * [taylor]: Taking taylor expansion of phi1 in phi1 23.924 * [backup-simplify]: Simplify 0 into 0 23.924 * [backup-simplify]: Simplify 1 into 1 23.925 * [backup-simplify]: Simplify (/ 1 1) into 1 23.925 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 23.925 * [taylor]: Taking taylor expansion of phi2 in phi1 23.925 * [backup-simplify]: Simplify phi2 into phi2 23.925 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 23.925 * [backup-simplify]: Simplify (+ 1 0) into 1 23.926 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 23.926 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 23.926 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 23.926 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.926 * [backup-simplify]: Simplify lambda2 into lambda2 23.926 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.926 * [backup-simplify]: Simplify lambda1 into lambda1 23.926 * [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) 23.926 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.927 * [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)) 23.927 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi1 23.927 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 23.927 * [taylor]: Taking taylor expansion of 2 in phi1 23.927 * [backup-simplify]: Simplify 2 into 2 23.927 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 23.927 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 23.927 * [taylor]: Taking taylor expansion of phi2 in phi1 23.927 * [backup-simplify]: Simplify phi2 into phi2 23.927 * [taylor]: Taking taylor expansion of phi1 in phi1 23.927 * [backup-simplify]: Simplify 0 into 0 23.927 * [backup-simplify]: Simplify 1 into 1 23.927 * [backup-simplify]: Simplify (* phi2 0) into 0 23.928 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 23.928 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 23.928 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi1 23.928 * [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 23.928 * [taylor]: Taking taylor expansion of 2 in phi1 23.928 * [backup-simplify]: Simplify 2 into 2 23.928 * [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 23.928 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 23.928 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 23.928 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 23.928 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.928 * [backup-simplify]: Simplify 0.5 into 0.5 23.928 * [taylor]: Taking taylor expansion of phi1 in phi1 23.928 * [backup-simplify]: Simplify 0 into 0 23.928 * [backup-simplify]: Simplify 1 into 1 23.929 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.929 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.929 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 23.929 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 23.929 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 23.929 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.929 * [backup-simplify]: Simplify 0.5 into 0.5 23.929 * [taylor]: Taking taylor expansion of phi1 in phi1 23.929 * [backup-simplify]: Simplify 0 into 0 23.929 * [backup-simplify]: Simplify 1 into 1 23.929 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.930 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.930 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 23.930 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 23.930 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 23.930 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.930 * [backup-simplify]: Simplify 0.5 into 0.5 23.930 * [taylor]: Taking taylor expansion of phi2 in phi1 23.930 * [backup-simplify]: Simplify phi2 into phi2 23.930 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.930 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.930 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.930 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 23.930 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 23.930 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.931 * [backup-simplify]: Simplify 0.5 into 0.5 23.931 * [taylor]: Taking taylor expansion of phi2 in phi1 23.931 * [backup-simplify]: Simplify phi2 into phi2 23.931 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.931 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.931 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.931 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 23.931 * [taylor]: Taking taylor expansion of lambda2 in phi1 23.931 * [backup-simplify]: Simplify lambda2 into lambda2 23.931 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 23.931 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 23.931 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 23.931 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 23.932 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 23.932 * [backup-simplify]: Simplify (- 0) into 0 23.932 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 23.932 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 23.932 * [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)))) 23.933 * [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))))) 23.933 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.933 * [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)) 23.933 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi1 23.934 * [taylor]: Taking taylor expansion of 2 in phi1 23.934 * [backup-simplify]: Simplify 2 into 2 23.934 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi1 23.934 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 23.934 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 23.934 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 23.934 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.934 * [backup-simplify]: Simplify 0.5 into 0.5 23.934 * [taylor]: Taking taylor expansion of phi1 in phi1 23.934 * [backup-simplify]: Simplify 0 into 0 23.934 * [backup-simplify]: Simplify 1 into 1 23.934 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.934 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.934 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 23.935 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 23.935 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 23.935 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.935 * [backup-simplify]: Simplify 0.5 into 0.5 23.935 * [taylor]: Taking taylor expansion of phi1 in phi1 23.935 * [backup-simplify]: Simplify 0 into 0 23.935 * [backup-simplify]: Simplify 1 into 1 23.935 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.935 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.935 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 23.935 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 23.935 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 23.935 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.935 * [backup-simplify]: Simplify 0.5 into 0.5 23.935 * [taylor]: Taking taylor expansion of phi2 in phi1 23.935 * [backup-simplify]: Simplify phi2 into phi2 23.936 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.936 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.936 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.936 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 23.936 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 23.936 * [taylor]: Taking taylor expansion of 0.5 in phi1 23.936 * [backup-simplify]: Simplify 0.5 into 0.5 23.936 * [taylor]: Taking taylor expansion of phi2 in phi1 23.936 * [backup-simplify]: Simplify phi2 into phi2 23.936 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 23.936 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.936 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.936 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 23.936 * [taylor]: Taking taylor expansion of lambda1 in phi1 23.936 * [backup-simplify]: Simplify lambda1 into lambda1 23.936 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 23.937 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 23.937 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 23.937 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 23.937 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 23.937 * [backup-simplify]: Simplify (- 0) into 0 23.937 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 23.938 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 23.938 * [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)))) 23.938 * [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))))) 23.938 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.939 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 23.939 * [backup-simplify]: Simplify (+ 1 0) into 1 23.940 * [backup-simplify]: Simplify (+ 0 1) into 1 23.940 * [backup-simplify]: Simplify (+ 0 1) into 1 23.940 * [backup-simplify]: Simplify (+ 0 1) into 1 23.941 * [backup-simplify]: Simplify (+ 0 1) into 1 23.941 * [backup-simplify]: Simplify (+ 1 0) into 1 23.942 * [backup-simplify]: Simplify (sqrt 1) into 1 23.943 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.943 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 23.944 * [backup-simplify]: Simplify (+ 0 0) into 0 23.944 * [backup-simplify]: Simplify (+ 0 0) into 0 23.945 * [backup-simplify]: Simplify (+ 0 0) into 0 23.945 * [backup-simplify]: Simplify (+ 0 0) into 0 23.945 * [backup-simplify]: Simplify (+ 0 0) into 0 23.945 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 23.946 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 23.946 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 23.946 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 23.946 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 23.947 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 23.947 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in phi2 23.947 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi2 23.947 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in phi2 23.947 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 23.947 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 23.947 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 23.947 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 23.947 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 23.947 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.947 * [backup-simplify]: Simplify 0.5 into 0.5 23.947 * [taylor]: Taking taylor expansion of phi1 in phi2 23.947 * [backup-simplify]: Simplify phi1 into phi1 23.947 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.947 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.947 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.948 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.948 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.948 * [backup-simplify]: Simplify (- 0) into 0 23.948 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.948 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 23.948 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 23.948 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 23.948 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.948 * [backup-simplify]: Simplify 0.5 into 0.5 23.948 * [taylor]: Taking taylor expansion of phi2 in phi2 23.948 * [backup-simplify]: Simplify 0 into 0 23.948 * [backup-simplify]: Simplify 1 into 1 23.949 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.949 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.949 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 23.949 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.949 * [backup-simplify]: Simplify lambda2 into lambda2 23.949 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 23.949 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 23.950 * [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)) 23.950 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.950 * [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)) 23.950 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in phi2 23.950 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 23.950 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 23.950 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 23.951 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 23.951 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 23.951 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.951 * [backup-simplify]: Simplify 0.5 into 0.5 23.951 * [taylor]: Taking taylor expansion of phi1 in phi2 23.951 * [backup-simplify]: Simplify phi1 into phi1 23.951 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.951 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.951 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.951 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.951 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.952 * [backup-simplify]: Simplify (- 0) into 0 23.952 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.952 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 23.952 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 23.952 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 23.952 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.952 * [backup-simplify]: Simplify 0.5 into 0.5 23.952 * [taylor]: Taking taylor expansion of phi2 in phi2 23.952 * [backup-simplify]: Simplify 0 into 0 23.952 * [backup-simplify]: Simplify 1 into 1 23.952 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.953 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.953 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 23.953 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.953 * [backup-simplify]: Simplify lambda1 into lambda1 23.953 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 23.953 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 23.953 * [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)) 23.954 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.954 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 23.954 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi2 23.954 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 23.954 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 23.954 * [taylor]: Taking taylor expansion of phi2 in phi2 23.954 * [backup-simplify]: Simplify 0 into 0 23.954 * [backup-simplify]: Simplify 1 into 1 23.955 * [backup-simplify]: Simplify (* 1 1) into 1 23.955 * [backup-simplify]: Simplify (/ 1 1) into 1 23.955 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2 23.955 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 23.955 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 23.955 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 23.955 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 23.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 23.955 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.955 * [backup-simplify]: Simplify 0.5 into 0.5 23.955 * [taylor]: Taking taylor expansion of phi1 in phi2 23.955 * [backup-simplify]: Simplify phi1 into phi1 23.955 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.956 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.956 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.956 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.956 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.956 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.956 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 23.956 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 23.956 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 23.956 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.956 * [backup-simplify]: Simplify 0.5 into 0.5 23.956 * [taylor]: Taking taylor expansion of phi2 in phi2 23.956 * [backup-simplify]: Simplify 0 into 0 23.956 * [backup-simplify]: Simplify 1 into 1 23.957 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.957 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.957 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 23.957 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.957 * [backup-simplify]: Simplify lambda1 into lambda1 23.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 23.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 23.958 * [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)) 23.958 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.958 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 23.958 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2 23.958 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 23.958 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 23.958 * [taylor]: Taking taylor expansion of phi1 in phi2 23.958 * [backup-simplify]: Simplify phi1 into phi1 23.958 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 23.959 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 23.959 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 23.959 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 23.959 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 23.959 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 23.959 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 23.959 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.959 * [backup-simplify]: Simplify 0.5 into 0.5 23.959 * [taylor]: Taking taylor expansion of phi1 in phi2 23.959 * [backup-simplify]: Simplify phi1 into phi1 23.959 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.959 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.959 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.959 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.959 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.959 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.959 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 23.959 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 23.960 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 23.960 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.960 * [backup-simplify]: Simplify 0.5 into 0.5 23.960 * [taylor]: Taking taylor expansion of phi2 in phi2 23.960 * [backup-simplify]: Simplify 0 into 0 23.960 * [backup-simplify]: Simplify 1 into 1 23.960 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.960 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.960 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 23.960 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.960 * [backup-simplify]: Simplify lambda2 into lambda2 23.961 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 23.961 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 23.961 * [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)) 23.961 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.962 * [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)) 23.962 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi2 23.962 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 23.962 * [taylor]: Taking taylor expansion of 2 in phi2 23.962 * [backup-simplify]: Simplify 2 into 2 23.962 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 23.962 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 23.962 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 23.962 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 23.962 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.962 * [backup-simplify]: Simplify 0.5 into 0.5 23.962 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 23.962 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 23.962 * [taylor]: Taking taylor expansion of phi1 in phi2 23.962 * [backup-simplify]: Simplify phi1 into phi1 23.962 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 23.962 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 23.962 * [taylor]: Taking taylor expansion of phi2 in phi2 23.962 * [backup-simplify]: Simplify 0 into 0 23.962 * [backup-simplify]: Simplify 1 into 1 23.963 * [backup-simplify]: Simplify (/ 1 1) into 1 23.963 * [backup-simplify]: Simplify (+ 0 1) into 1 23.964 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 23.964 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 23.964 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 23.964 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.964 * [backup-simplify]: Simplify lambda2 into lambda2 23.964 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.964 * [backup-simplify]: Simplify lambda1 into lambda1 23.964 * [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) 23.964 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 23.965 * [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)) 23.965 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi2 23.965 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 23.965 * [taylor]: Taking taylor expansion of 2 in phi2 23.965 * [backup-simplify]: Simplify 2 into 2 23.965 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 23.965 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 23.965 * [taylor]: Taking taylor expansion of phi2 in phi2 23.965 * [backup-simplify]: Simplify 0 into 0 23.965 * [backup-simplify]: Simplify 1 into 1 23.965 * [taylor]: Taking taylor expansion of phi1 in phi2 23.965 * [backup-simplify]: Simplify phi1 into phi1 23.965 * [backup-simplify]: Simplify (* 0 phi1) into 0 23.966 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 23.966 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 23.966 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi2 23.966 * [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 23.966 * [taylor]: Taking taylor expansion of 2 in phi2 23.966 * [backup-simplify]: Simplify 2 into 2 23.966 * [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 23.966 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 23.966 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 23.966 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 23.966 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.966 * [backup-simplify]: Simplify 0.5 into 0.5 23.966 * [taylor]: Taking taylor expansion of phi1 in phi2 23.966 * [backup-simplify]: Simplify phi1 into phi1 23.966 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.966 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.966 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.966 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 23.966 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 23.966 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 23.966 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.966 * [backup-simplify]: Simplify 0.5 into 0.5 23.966 * [taylor]: Taking taylor expansion of phi1 in phi2 23.967 * [backup-simplify]: Simplify phi1 into phi1 23.967 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.967 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.967 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.967 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 23.967 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 23.967 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 23.967 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.967 * [backup-simplify]: Simplify 0.5 into 0.5 23.967 * [taylor]: Taking taylor expansion of phi2 in phi2 23.967 * [backup-simplify]: Simplify 0 into 0 23.967 * [backup-simplify]: Simplify 1 into 1 23.967 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.968 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.968 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 23.968 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 23.968 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.968 * [backup-simplify]: Simplify 0.5 into 0.5 23.968 * [taylor]: Taking taylor expansion of phi2 in phi2 23.968 * [backup-simplify]: Simplify 0 into 0 23.968 * [backup-simplify]: Simplify 1 into 1 23.968 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.968 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.968 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 23.968 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.968 * [backup-simplify]: Simplify lambda2 into lambda2 23.969 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.969 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.969 * [backup-simplify]: Simplify (- 0) into 0 23.969 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.969 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.969 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.970 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.970 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 23.970 * [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)))) 23.970 * [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))))) 23.970 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.971 * [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)) 23.971 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi2 23.971 * [taylor]: Taking taylor expansion of 2 in phi2 23.971 * [backup-simplify]: Simplify 2 into 2 23.971 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi2 23.971 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 23.971 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 23.971 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 23.971 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.971 * [backup-simplify]: Simplify 0.5 into 0.5 23.971 * [taylor]: Taking taylor expansion of phi1 in phi2 23.971 * [backup-simplify]: Simplify phi1 into phi1 23.971 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.971 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.972 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.972 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 23.972 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 23.972 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 23.972 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.972 * [backup-simplify]: Simplify 0.5 into 0.5 23.972 * [taylor]: Taking taylor expansion of phi1 in phi2 23.972 * [backup-simplify]: Simplify phi1 into phi1 23.972 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.972 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.972 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.972 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 23.972 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 23.972 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 23.972 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.972 * [backup-simplify]: Simplify 0.5 into 0.5 23.972 * [taylor]: Taking taylor expansion of phi2 in phi2 23.972 * [backup-simplify]: Simplify 0 into 0 23.972 * [backup-simplify]: Simplify 1 into 1 23.973 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.973 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.973 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 23.973 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 23.973 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.973 * [backup-simplify]: Simplify 0.5 into 0.5 23.973 * [taylor]: Taking taylor expansion of phi2 in phi2 23.973 * [backup-simplify]: Simplify 0 into 0 23.973 * [backup-simplify]: Simplify 1 into 1 23.974 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.974 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.974 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 23.974 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.974 * [backup-simplify]: Simplify lambda1 into lambda1 23.974 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.974 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.974 * [backup-simplify]: Simplify (- 0) into 0 23.974 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.975 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.975 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.975 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.975 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 23.975 * [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)))) 23.976 * [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))))) 23.976 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.976 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 23.977 * [backup-simplify]: Simplify (+ 1 0) into 1 23.977 * [backup-simplify]: Simplify (+ 0 1) into 1 23.977 * [backup-simplify]: Simplify (+ 0 1) into 1 23.978 * [backup-simplify]: Simplify (+ 1 0) into 1 23.978 * [backup-simplify]: Simplify (sqrt 1) into 1 23.979 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.980 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 23.980 * [backup-simplify]: Simplify (+ 0 0) into 0 23.980 * [backup-simplify]: Simplify (+ 0 0) into 0 23.981 * [backup-simplify]: Simplify (+ 0 0) into 0 23.981 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 23.981 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 23.981 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 23.981 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 23.982 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 23.982 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 23.982 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in phi2 23.982 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi2 23.982 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in phi2 23.982 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 23.982 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 23.983 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 23.983 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 23.983 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 23.983 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.983 * [backup-simplify]: Simplify 0.5 into 0.5 23.983 * [taylor]: Taking taylor expansion of phi1 in phi2 23.983 * [backup-simplify]: Simplify phi1 into phi1 23.983 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.983 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.983 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.984 * [backup-simplify]: Simplify (- 0) into 0 23.984 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.984 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 23.984 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 23.984 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 23.984 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.984 * [backup-simplify]: Simplify 0.5 into 0.5 23.984 * [taylor]: Taking taylor expansion of phi2 in phi2 23.984 * [backup-simplify]: Simplify 0 into 0 23.984 * [backup-simplify]: Simplify 1 into 1 23.984 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.984 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.985 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 23.985 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.985 * [backup-simplify]: Simplify lambda2 into lambda2 23.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 23.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 23.985 * [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)) 23.985 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.986 * [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)) 23.986 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in phi2 23.986 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 23.986 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 23.986 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 23.986 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 23.986 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 23.986 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.986 * [backup-simplify]: Simplify 0.5 into 0.5 23.986 * [taylor]: Taking taylor expansion of phi1 in phi2 23.986 * [backup-simplify]: Simplify phi1 into phi1 23.986 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.986 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.986 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.987 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 23.987 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 23.987 * [backup-simplify]: Simplify (- 0) into 0 23.987 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 23.987 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 23.987 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 23.987 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 23.987 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.987 * [backup-simplify]: Simplify 0.5 into 0.5 23.987 * [taylor]: Taking taylor expansion of phi2 in phi2 23.987 * [backup-simplify]: Simplify 0 into 0 23.987 * [backup-simplify]: Simplify 1 into 1 23.988 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.988 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 23.988 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 23.988 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.988 * [backup-simplify]: Simplify lambda1 into lambda1 23.988 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 23.988 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 23.989 * [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)) 23.989 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.989 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 23.989 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi2 23.989 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 23.989 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 23.990 * [taylor]: Taking taylor expansion of phi2 in phi2 23.990 * [backup-simplify]: Simplify 0 into 0 23.990 * [backup-simplify]: Simplify 1 into 1 23.990 * [backup-simplify]: Simplify (* 1 1) into 1 23.990 * [backup-simplify]: Simplify (/ 1 1) into 1 23.990 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2 23.990 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 23.990 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 23.991 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 23.991 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 23.991 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 23.991 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.991 * [backup-simplify]: Simplify 0.5 into 0.5 23.991 * [taylor]: Taking taylor expansion of phi1 in phi2 23.991 * [backup-simplify]: Simplify phi1 into phi1 23.991 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.991 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.991 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.991 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.991 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.991 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.991 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 23.991 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 23.991 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 23.991 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.991 * [backup-simplify]: Simplify 0.5 into 0.5 23.992 * [taylor]: Taking taylor expansion of phi2 in phi2 23.992 * [backup-simplify]: Simplify 0 into 0 23.992 * [backup-simplify]: Simplify 1 into 1 23.992 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.992 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.992 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 23.992 * [taylor]: Taking taylor expansion of lambda1 in phi2 23.992 * [backup-simplify]: Simplify lambda1 into lambda1 23.992 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 23.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 23.993 * [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)) 23.993 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 23.994 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 23.994 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2 23.994 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 23.994 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 23.994 * [taylor]: Taking taylor expansion of phi1 in phi2 23.994 * [backup-simplify]: Simplify phi1 into phi1 23.994 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 23.994 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 23.994 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 23.994 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 23.994 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 23.994 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 23.994 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 23.994 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.994 * [backup-simplify]: Simplify 0.5 into 0.5 23.994 * [taylor]: Taking taylor expansion of phi1 in phi2 23.994 * [backup-simplify]: Simplify phi1 into phi1 23.994 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 23.994 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 23.995 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 23.995 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 23.995 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 23.995 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 23.995 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 23.995 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 23.995 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 23.995 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.995 * [backup-simplify]: Simplify 0.5 into 0.5 23.995 * [taylor]: Taking taylor expansion of phi2 in phi2 23.995 * [backup-simplify]: Simplify 0 into 0 23.995 * [backup-simplify]: Simplify 1 into 1 23.996 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 23.996 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 23.996 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 23.996 * [taylor]: Taking taylor expansion of lambda2 in phi2 23.996 * [backup-simplify]: Simplify lambda2 into lambda2 23.996 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 23.997 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 23.997 * [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)) 23.997 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 23.997 * [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)) 23.998 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi2 23.998 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 23.998 * [taylor]: Taking taylor expansion of 2 in phi2 23.998 * [backup-simplify]: Simplify 2 into 2 23.998 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 23.998 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 23.998 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 23.998 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 23.998 * [taylor]: Taking taylor expansion of 0.5 in phi2 23.998 * [backup-simplify]: Simplify 0.5 into 0.5 23.998 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 23.998 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 23.998 * [taylor]: Taking taylor expansion of phi1 in phi2 23.998 * [backup-simplify]: Simplify phi1 into phi1 23.998 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 23.998 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 23.998 * [taylor]: Taking taylor expansion of phi2 in phi2 23.998 * [backup-simplify]: Simplify 0 into 0 23.998 * [backup-simplify]: Simplify 1 into 1 23.999 * [backup-simplify]: Simplify (/ 1 1) into 1 23.999 * [backup-simplify]: Simplify (+ 0 1) into 1 24.000 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 24.000 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.000 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 24.000 * [taylor]: Taking taylor expansion of lambda2 in phi2 24.000 * [backup-simplify]: Simplify lambda2 into lambda2 24.000 * [taylor]: Taking taylor expansion of lambda1 in phi2 24.000 * [backup-simplify]: Simplify lambda1 into lambda1 24.000 * [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) 24.000 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 24.001 * [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)) 24.001 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi2 24.001 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 24.001 * [taylor]: Taking taylor expansion of 2 in phi2 24.001 * [backup-simplify]: Simplify 2 into 2 24.001 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 24.001 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 24.001 * [taylor]: Taking taylor expansion of phi2 in phi2 24.001 * [backup-simplify]: Simplify 0 into 0 24.001 * [backup-simplify]: Simplify 1 into 1 24.001 * [taylor]: Taking taylor expansion of phi1 in phi2 24.001 * [backup-simplify]: Simplify phi1 into phi1 24.001 * [backup-simplify]: Simplify (* 0 phi1) into 0 24.002 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 24.002 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.002 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi2 24.002 * [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 24.002 * [taylor]: Taking taylor expansion of 2 in phi2 24.002 * [backup-simplify]: Simplify 2 into 2 24.002 * [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 24.002 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 24.002 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 24.002 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 24.002 * [taylor]: Taking taylor expansion of 0.5 in phi2 24.002 * [backup-simplify]: Simplify 0.5 into 0.5 24.002 * [taylor]: Taking taylor expansion of phi1 in phi2 24.002 * [backup-simplify]: Simplify phi1 into phi1 24.002 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.002 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.002 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.002 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 24.002 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 24.002 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 24.002 * [taylor]: Taking taylor expansion of 0.5 in phi2 24.003 * [backup-simplify]: Simplify 0.5 into 0.5 24.003 * [taylor]: Taking taylor expansion of phi1 in phi2 24.003 * [backup-simplify]: Simplify phi1 into phi1 24.003 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.003 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.003 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.003 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 24.003 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 24.003 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 24.003 * [taylor]: Taking taylor expansion of 0.5 in phi2 24.003 * [backup-simplify]: Simplify 0.5 into 0.5 24.003 * [taylor]: Taking taylor expansion of phi2 in phi2 24.003 * [backup-simplify]: Simplify 0 into 0 24.003 * [backup-simplify]: Simplify 1 into 1 24.004 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.004 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.004 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 24.004 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 24.004 * [taylor]: Taking taylor expansion of 0.5 in phi2 24.004 * [backup-simplify]: Simplify 0.5 into 0.5 24.004 * [taylor]: Taking taylor expansion of phi2 in phi2 24.004 * [backup-simplify]: Simplify 0 into 0 24.004 * [backup-simplify]: Simplify 1 into 1 24.004 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.005 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.005 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 24.005 * [taylor]: Taking taylor expansion of lambda2 in phi2 24.005 * [backup-simplify]: Simplify lambda2 into lambda2 24.005 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 24.005 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 24.005 * [backup-simplify]: Simplify (- 0) into 0 24.005 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 24.006 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 24.006 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 24.006 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 24.006 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 24.006 * [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)))) 24.007 * [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))))) 24.007 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.007 * [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)) 24.007 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi2 24.007 * [taylor]: Taking taylor expansion of 2 in phi2 24.007 * [backup-simplify]: Simplify 2 into 2 24.007 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi2 24.007 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 24.007 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 24.007 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 24.007 * [taylor]: Taking taylor expansion of 0.5 in phi2 24.008 * [backup-simplify]: Simplify 0.5 into 0.5 24.008 * [taylor]: Taking taylor expansion of phi1 in phi2 24.008 * [backup-simplify]: Simplify phi1 into phi1 24.008 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.008 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.008 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.008 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 24.008 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 24.008 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 24.008 * [taylor]: Taking taylor expansion of 0.5 in phi2 24.008 * [backup-simplify]: Simplify 0.5 into 0.5 24.008 * [taylor]: Taking taylor expansion of phi1 in phi2 24.008 * [backup-simplify]: Simplify phi1 into phi1 24.008 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.008 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.008 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.008 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 24.008 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 24.008 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 24.008 * [taylor]: Taking taylor expansion of 0.5 in phi2 24.008 * [backup-simplify]: Simplify 0.5 into 0.5 24.009 * [taylor]: Taking taylor expansion of phi2 in phi2 24.009 * [backup-simplify]: Simplify 0 into 0 24.009 * [backup-simplify]: Simplify 1 into 1 24.009 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.009 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.009 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 24.009 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 24.009 * [taylor]: Taking taylor expansion of 0.5 in phi2 24.009 * [backup-simplify]: Simplify 0.5 into 0.5 24.009 * [taylor]: Taking taylor expansion of phi2 in phi2 24.009 * [backup-simplify]: Simplify 0 into 0 24.009 * [backup-simplify]: Simplify 1 into 1 24.010 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.010 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.010 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 24.010 * [taylor]: Taking taylor expansion of lambda1 in phi2 24.010 * [backup-simplify]: Simplify lambda1 into lambda1 24.010 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 24.010 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 24.011 * [backup-simplify]: Simplify (- 0) into 0 24.011 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 24.011 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 24.011 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 24.011 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 24.011 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 24.012 * [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)))) 24.012 * [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))))) 24.012 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.013 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 24.013 * [backup-simplify]: Simplify (+ 1 0) into 1 24.013 * [backup-simplify]: Simplify (+ 0 1) into 1 24.014 * [backup-simplify]: Simplify (+ 0 1) into 1 24.014 * [backup-simplify]: Simplify (+ 1 0) into 1 24.015 * [backup-simplify]: Simplify (sqrt 1) into 1 24.015 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.016 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 24.017 * [backup-simplify]: Simplify (+ 0 0) into 0 24.017 * [backup-simplify]: Simplify (+ 0 0) into 0 24.017 * [backup-simplify]: Simplify (+ 0 0) into 0 24.017 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 24.017 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 24.018 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 24.018 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 24.018 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 24.018 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 24.019 * [taylor]: Taking taylor expansion of 1 in phi1 24.019 * [backup-simplify]: Simplify 1 into 1 24.019 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 24.019 * [taylor]: Taking taylor expansion of -1 in phi1 24.019 * [backup-simplify]: Simplify -1 into -1 24.019 * [taylor]: Taking taylor expansion of phi1 in phi1 24.019 * [backup-simplify]: Simplify 0 into 0 24.019 * [backup-simplify]: Simplify 1 into 1 24.019 * [backup-simplify]: Simplify (/ -1 1) into -1 24.019 * [taylor]: Taking taylor expansion of -1 in lambda1 24.019 * [backup-simplify]: Simplify -1 into -1 24.019 * [taylor]: Taking taylor expansion of 1 in lambda1 24.019 * [backup-simplify]: Simplify 1 into 1 24.020 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 24.021 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 24.022 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) into (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) 24.023 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (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 lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 24.025 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (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 lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 24.027 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (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 lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) 24.030 * [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 lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (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 lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) 24.030 * [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))) 24.032 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 24.032 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 24.032 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 24.033 * [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))) 24.033 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) 24.035 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) 24.036 * [backup-simplify]: Simplify (+ 0 (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) into (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) 24.038 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) 24.040 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 24.047 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 24.054 * [backup-simplify]: Simplify (/ (- (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) (pow (/ -1 phi1) 2) (+)) (* 2 1)) into (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) 24.055 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi1 24.055 * [taylor]: Taking taylor expansion of 1/2 in phi1 24.055 * [backup-simplify]: Simplify 1/2 into 1/2 24.055 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi1 24.055 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi1 24.055 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 24.055 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 24.055 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 24.055 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 24.055 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.055 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.055 * [backup-simplify]: Simplify 0.5 into 0.5 24.055 * [taylor]: Taking taylor expansion of phi1 in phi1 24.055 * [backup-simplify]: Simplify 0 into 0 24.055 * [backup-simplify]: Simplify 1 into 1 24.056 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.056 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.056 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 24.056 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 24.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.056 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.056 * [backup-simplify]: Simplify 0.5 into 0.5 24.056 * [taylor]: Taking taylor expansion of phi2 in phi1 24.056 * [backup-simplify]: Simplify phi2 into phi2 24.056 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.056 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.056 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.056 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.057 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.057 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.057 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.057 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.057 * [backup-simplify]: Simplify lambda2 into lambda2 24.057 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 24.057 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 24.057 * [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)) 24.058 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.058 * [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)) 24.058 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1 24.058 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 24.058 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 24.058 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 24.058 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 24.058 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.058 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.058 * [backup-simplify]: Simplify 0.5 into 0.5 24.058 * [taylor]: Taking taylor expansion of phi1 in phi1 24.058 * [backup-simplify]: Simplify 0 into 0 24.058 * [backup-simplify]: Simplify 1 into 1 24.059 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.059 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.059 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 24.059 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 24.059 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.059 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.059 * [backup-simplify]: Simplify 0.5 into 0.5 24.059 * [taylor]: Taking taylor expansion of phi2 in phi1 24.059 * [backup-simplify]: Simplify phi2 into phi2 24.059 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.059 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.060 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.060 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.060 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.060 * [backup-simplify]: Simplify (- 0) into 0 24.060 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.060 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.060 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.060 * [backup-simplify]: Simplify lambda1 into lambda1 24.061 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 24.061 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 24.061 * [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)) 24.061 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.062 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 24.062 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1 24.062 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 24.062 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 24.062 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 24.062 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 24.062 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.062 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.062 * [backup-simplify]: Simplify 0.5 into 0.5 24.062 * [taylor]: Taking taylor expansion of phi1 in phi1 24.062 * [backup-simplify]: Simplify 0 into 0 24.062 * [backup-simplify]: Simplify 1 into 1 24.062 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.063 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.063 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 24.063 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 24.063 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.063 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.063 * [backup-simplify]: Simplify 0.5 into 0.5 24.063 * [taylor]: Taking taylor expansion of phi2 in phi1 24.063 * [backup-simplify]: Simplify phi2 into phi2 24.063 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.063 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.063 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.063 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.063 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.063 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.063 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.064 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.064 * [backup-simplify]: Simplify lambda1 into lambda1 24.064 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 24.064 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 24.064 * [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)) 24.064 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.065 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 24.065 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 24.065 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 24.065 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 24.065 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 24.065 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.065 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.065 * [backup-simplify]: Simplify 0.5 into 0.5 24.065 * [taylor]: Taking taylor expansion of phi1 in phi1 24.065 * [backup-simplify]: Simplify 0 into 0 24.065 * [backup-simplify]: Simplify 1 into 1 24.066 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.066 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.066 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 24.066 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 24.066 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.066 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.066 * [backup-simplify]: Simplify 0.5 into 0.5 24.066 * [taylor]: Taking taylor expansion of phi2 in phi1 24.066 * [backup-simplify]: Simplify phi2 into phi2 24.066 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.066 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.066 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.066 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.066 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.067 * [backup-simplify]: Simplify (- 0) into 0 24.067 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.067 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.067 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.067 * [backup-simplify]: Simplify lambda2 into lambda2 24.067 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 24.067 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 24.068 * [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)) 24.068 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.068 * [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)) 24.068 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi1 24.068 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 24.068 * [taylor]: Taking taylor expansion of 2 in phi1 24.068 * [backup-simplify]: Simplify 2 into 2 24.069 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 24.069 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 24.069 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 24.069 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 24.069 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.069 * [backup-simplify]: Simplify 0.5 into 0.5 24.069 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 24.069 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 24.069 * [taylor]: Taking taylor expansion of phi1 in phi1 24.069 * [backup-simplify]: Simplify 0 into 0 24.069 * [backup-simplify]: Simplify 1 into 1 24.069 * [backup-simplify]: Simplify (/ 1 1) into 1 24.069 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 24.069 * [taylor]: Taking taylor expansion of phi2 in phi1 24.069 * [backup-simplify]: Simplify phi2 into phi2 24.069 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.070 * [backup-simplify]: Simplify (+ 1 0) into 1 24.070 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 24.071 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.071 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 24.071 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.071 * [backup-simplify]: Simplify lambda2 into lambda2 24.071 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.071 * [backup-simplify]: Simplify lambda1 into lambda1 24.071 * [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) 24.071 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 24.072 * [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)) 24.072 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi1 24.072 * [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 24.072 * [taylor]: Taking taylor expansion of 2 in phi1 24.072 * [backup-simplify]: Simplify 2 into 2 24.072 * [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 24.072 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 24.072 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 24.072 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.072 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.072 * [backup-simplify]: Simplify 0.5 into 0.5 24.072 * [taylor]: Taking taylor expansion of phi1 in phi1 24.072 * [backup-simplify]: Simplify 0 into 0 24.072 * [backup-simplify]: Simplify 1 into 1 24.073 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.073 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.073 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 24.073 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 24.073 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.073 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.073 * [backup-simplify]: Simplify 0.5 into 0.5 24.073 * [taylor]: Taking taylor expansion of phi1 in phi1 24.073 * [backup-simplify]: Simplify 0 into 0 24.073 * [backup-simplify]: Simplify 1 into 1 24.074 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.074 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.074 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 24.074 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 24.074 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.074 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.074 * [backup-simplify]: Simplify 0.5 into 0.5 24.074 * [taylor]: Taking taylor expansion of phi2 in phi1 24.074 * [backup-simplify]: Simplify phi2 into phi2 24.074 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.074 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.074 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.074 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 24.074 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.074 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.074 * [backup-simplify]: Simplify 0.5 into 0.5 24.074 * [taylor]: Taking taylor expansion of phi2 in phi1 24.074 * [backup-simplify]: Simplify phi2 into phi2 24.074 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.075 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.075 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.075 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.075 * [backup-simplify]: Simplify lambda2 into lambda2 24.075 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.075 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.075 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.075 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.075 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.076 * [backup-simplify]: Simplify (- 0) into 0 24.076 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 24.076 * [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)))) 24.077 * [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))))) 24.077 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.077 * [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)) 24.077 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi1 24.077 * [taylor]: Taking taylor expansion of 2 in phi1 24.077 * [backup-simplify]: Simplify 2 into 2 24.077 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi1 24.077 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 24.077 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 24.077 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.078 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.078 * [backup-simplify]: Simplify 0.5 into 0.5 24.078 * [taylor]: Taking taylor expansion of phi1 in phi1 24.078 * [backup-simplify]: Simplify 0 into 0 24.078 * [backup-simplify]: Simplify 1 into 1 24.078 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.078 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.078 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 24.078 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 24.078 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.078 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.078 * [backup-simplify]: Simplify 0.5 into 0.5 24.078 * [taylor]: Taking taylor expansion of phi1 in phi1 24.078 * [backup-simplify]: Simplify 0 into 0 24.079 * [backup-simplify]: Simplify 1 into 1 24.079 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.079 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.079 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 24.079 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 24.079 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.079 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.079 * [backup-simplify]: Simplify 0.5 into 0.5 24.079 * [taylor]: Taking taylor expansion of phi2 in phi1 24.079 * [backup-simplify]: Simplify phi2 into phi2 24.079 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.079 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.080 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.080 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 24.080 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.080 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.080 * [backup-simplify]: Simplify 0.5 into 0.5 24.080 * [taylor]: Taking taylor expansion of phi2 in phi1 24.080 * [backup-simplify]: Simplify phi2 into phi2 24.080 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.080 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.080 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.080 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.080 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.080 * [backup-simplify]: Simplify lambda1 into lambda1 24.080 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.080 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.080 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.081 * [backup-simplify]: Simplify (- 0) into 0 24.081 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.082 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 24.082 * [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)))) 24.082 * [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))))) 24.082 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.083 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 24.090 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)))) into 0 24.090 * [taylor]: Taking taylor expansion of 0 in lambda1 24.090 * [backup-simplify]: Simplify 0 into 0 24.090 * [taylor]: Taking taylor expansion of 0 in lambda1 24.090 * [backup-simplify]: Simplify 0 into 0 24.090 * [taylor]: Taking taylor expansion of -1 in lambda2 24.090 * [backup-simplify]: Simplify -1 into -1 24.090 * [taylor]: Taking taylor expansion of 1 in lambda2 24.090 * [backup-simplify]: Simplify 1 into 1 24.090 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 24.091 * [backup-simplify]: Simplify (+ 0) into 0 24.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.092 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.093 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.093 * [backup-simplify]: Simplify (- 0) into 0 24.094 * [backup-simplify]: Simplify (+ 0 0) into 0 24.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 24.094 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 24.095 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.095 * [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 24.095 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 24.096 * [backup-simplify]: Simplify (+ 0) into 0 24.096 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.097 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.097 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.098 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.098 * [backup-simplify]: Simplify (- 0) into 0 24.099 * [backup-simplify]: Simplify (+ 0 0) into 0 24.099 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 24.099 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 24.099 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.100 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 24.101 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 24.102 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 24.102 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 24.103 * [backup-simplify]: Simplify (+ 0) into 0 24.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.103 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.104 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.105 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.105 * [backup-simplify]: Simplify (+ 0 0) into 0 24.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 24.106 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 24.106 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.106 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 24.107 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 24.107 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 24.107 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 24.108 * [backup-simplify]: Simplify (+ 0) into 0 24.108 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.108 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.110 * [backup-simplify]: Simplify (+ 0 0) into 0 24.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 24.110 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 24.111 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.111 * [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 24.112 * [backup-simplify]: Simplify (+ 0 0) into 0 24.112 * [backup-simplify]: Simplify (+ 0 0) into 0 24.112 * [backup-simplify]: Simplify (+ 0 0) into 0 24.113 * [backup-simplify]: Simplify (+ 0 0) into 0 24.113 * [backup-simplify]: Simplify (+ 0 0) into 0 24.114 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 24.114 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 24.114 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 24.115 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 24.116 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 phi1)))) into 0 24.117 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 24.117 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ 1 phi1)))) into 0 24.118 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 24.118 * [backup-simplify]: Simplify (+ 0) into 0 24.119 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.119 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.120 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.120 * [backup-simplify]: Simplify (+ 0 0) into 0 24.121 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 24.121 * [backup-simplify]: Simplify (+ 0) into 0 24.122 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.122 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.123 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.123 * [backup-simplify]: Simplify (- 0) into 0 24.124 * [backup-simplify]: Simplify (+ 0 0) into 0 24.124 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 24.124 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.125 * [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 24.126 * [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 24.126 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 24.127 * [backup-simplify]: Simplify (+ 0) into 0 24.127 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.127 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.128 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.129 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.129 * [backup-simplify]: Simplify (+ 0 0) into 0 24.129 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 24.130 * [backup-simplify]: Simplify (+ 0) into 0 24.130 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.130 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.132 * [backup-simplify]: Simplify (- 0) into 0 24.133 * [backup-simplify]: Simplify (+ 0 0) into 0 24.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 24.133 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.134 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 24.135 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into 0 24.135 * [backup-simplify]: Simplify (+ 0 0) into 0 24.136 * [backup-simplify]: Simplify (+ 0 0) into 0 24.136 * [backup-simplify]: Simplify (+ 0 0) into 0 24.136 * [backup-simplify]: Simplify (- 0) into 0 24.137 * [backup-simplify]: Simplify (+ 0 0) into 0 24.145 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (/ -1 phi1) (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))))))) (* 2 1)) into (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))))))) 24.145 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))))))) in phi1 24.145 * [taylor]: Taking taylor expansion of 1/2 in phi1 24.145 * [backup-simplify]: Simplify 1/2 into 1/2 24.145 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1)))))) in phi1 24.145 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))))) in phi1 24.145 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) in phi1 24.145 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 24.145 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 24.145 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 24.145 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.145 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.145 * [backup-simplify]: Simplify 0.5 into 0.5 24.145 * [taylor]: Taking taylor expansion of phi1 in phi1 24.145 * [backup-simplify]: Simplify 0 into 0 24.145 * [backup-simplify]: Simplify 1 into 1 24.146 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.146 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.146 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 24.146 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 24.146 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.146 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.146 * [backup-simplify]: Simplify 0.5 into 0.5 24.146 * [taylor]: Taking taylor expansion of phi2 in phi1 24.146 * [backup-simplify]: Simplify phi2 into phi2 24.146 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.146 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.146 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.147 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.147 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 24.147 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.147 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.147 * [backup-simplify]: Simplify lambda1 into lambda1 24.147 * [taylor]: Taking taylor expansion of phi1 in phi1 24.147 * [backup-simplify]: Simplify 0 into 0 24.147 * [backup-simplify]: Simplify 1 into 1 24.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 24.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 24.148 * [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)) 24.148 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.148 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 24.148 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.148 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 24.149 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 24.149 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2))))) in phi1 24.149 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) in phi1 24.149 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 24.149 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 24.149 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 24.149 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.149 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.149 * [backup-simplify]: Simplify 0.5 into 0.5 24.149 * [taylor]: Taking taylor expansion of phi1 in phi1 24.149 * [backup-simplify]: Simplify 0 into 0 24.149 * [backup-simplify]: Simplify 1 into 1 24.150 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.150 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.150 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 24.150 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 24.150 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.150 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.150 * [backup-simplify]: Simplify 0.5 into 0.5 24.150 * [taylor]: Taking taylor expansion of phi2 in phi1 24.150 * [backup-simplify]: Simplify phi2 into phi2 24.150 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.150 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.150 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.150 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.150 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.151 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.151 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 24.151 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.151 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.151 * [backup-simplify]: Simplify lambda2 into lambda2 24.151 * [taylor]: Taking taylor expansion of phi1 in phi1 24.151 * [backup-simplify]: Simplify 0 into 0 24.151 * [backup-simplify]: Simplify 1 into 1 24.151 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 24.151 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 24.151 * [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)) 24.152 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.152 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 24.152 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.152 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 24.153 * [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)) 24.153 * [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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))) in phi1 24.153 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) in phi1 24.153 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 24.153 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 24.153 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 24.153 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.153 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.153 * [backup-simplify]: Simplify 0.5 into 0.5 24.153 * [taylor]: Taking taylor expansion of phi1 in phi1 24.153 * [backup-simplify]: Simplify 0 into 0 24.153 * [backup-simplify]: Simplify 1 into 1 24.154 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.154 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.154 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 24.154 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 24.154 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.154 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.154 * [backup-simplify]: Simplify 0.5 into 0.5 24.154 * [taylor]: Taking taylor expansion of phi2 in phi1 24.154 * [backup-simplify]: Simplify phi2 into phi2 24.154 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.154 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.154 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.154 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.155 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.155 * [backup-simplify]: Simplify (- 0) into 0 24.155 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.155 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 24.155 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.155 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.155 * [backup-simplify]: Simplify lambda2 into lambda2 24.155 * [taylor]: Taking taylor expansion of phi1 in phi1 24.155 * [backup-simplify]: Simplify 0 into 0 24.155 * [backup-simplify]: Simplify 1 into 1 24.155 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 24.156 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 24.156 * [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)) 24.156 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.156 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 24.156 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.157 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 24.157 * [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)) 24.157 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2))) in phi1 24.157 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 24.157 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 24.157 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 24.157 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.157 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.157 * [backup-simplify]: Simplify 0.5 into 0.5 24.157 * [taylor]: Taking taylor expansion of phi1 in phi1 24.157 * [backup-simplify]: Simplify 0 into 0 24.157 * [backup-simplify]: Simplify 1 into 1 24.158 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.158 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.158 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 24.158 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 24.158 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.158 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.158 * [backup-simplify]: Simplify 0.5 into 0.5 24.158 * [taylor]: Taking taylor expansion of phi2 in phi1 24.158 * [backup-simplify]: Simplify phi2 into phi2 24.158 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.158 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.158 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.158 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.159 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.159 * [backup-simplify]: Simplify (- 0) into 0 24.159 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.159 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 24.159 * [taylor]: Taking taylor expansion of phi1 in phi1 24.159 * [backup-simplify]: Simplify 0 into 0 24.159 * [backup-simplify]: Simplify 1 into 1 24.159 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.159 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.159 * [backup-simplify]: Simplify lambda1 into lambda1 24.159 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 24.160 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 24.160 * [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)) 24.160 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.160 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 24.160 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.161 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 24.161 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 24.161 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))))) in phi1 24.161 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) in phi1 24.161 * [taylor]: Taking taylor expansion of 2 in phi1 24.161 * [backup-simplify]: Simplify 2 into 2 24.161 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1)) in phi1 24.161 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 24.161 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 24.161 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.161 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.161 * [backup-simplify]: Simplify 0.5 into 0.5 24.162 * [taylor]: Taking taylor expansion of phi1 in phi1 24.162 * [backup-simplify]: Simplify 0 into 0 24.162 * [backup-simplify]: Simplify 1 into 1 24.162 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.162 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.162 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 24.162 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 24.162 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.162 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.162 * [backup-simplify]: Simplify 0.5 into 0.5 24.162 * [taylor]: Taking taylor expansion of phi1 in phi1 24.162 * [backup-simplify]: Simplify 0 into 0 24.162 * [backup-simplify]: Simplify 1 into 1 24.163 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.163 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.163 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 24.163 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 24.163 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.163 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.163 * [backup-simplify]: Simplify 0.5 into 0.5 24.163 * [taylor]: Taking taylor expansion of phi2 in phi1 24.163 * [backup-simplify]: Simplify phi2 into phi2 24.163 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.163 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.163 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.163 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 24.163 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.163 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.163 * [backup-simplify]: Simplify 0.5 into 0.5 24.163 * [taylor]: Taking taylor expansion of phi2 in phi1 24.163 * [backup-simplify]: Simplify phi2 into phi2 24.164 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.164 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.164 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.164 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 24.164 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.164 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.164 * [backup-simplify]: Simplify lambda1 into lambda1 24.164 * [taylor]: Taking taylor expansion of phi1 in phi1 24.164 * [backup-simplify]: Simplify 0 into 0 24.164 * [backup-simplify]: Simplify 1 into 1 24.164 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.164 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.164 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.164 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.164 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.165 * [backup-simplify]: Simplify (- 0) into 0 24.165 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.165 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 24.165 * [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)))) 24.166 * [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))))) 24.166 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.166 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 24.166 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.167 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 24.167 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 24.167 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1)))) in phi1 24.167 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) in phi1 24.167 * [taylor]: Taking taylor expansion of 2 in phi1 24.167 * [backup-simplify]: Simplify 2 into 2 24.167 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1))) in phi1 24.167 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 24.167 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 24.167 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 24.167 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.167 * [backup-simplify]: Simplify 0.5 into 0.5 24.167 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 24.167 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 24.167 * [taylor]: Taking taylor expansion of phi1 in phi1 24.167 * [backup-simplify]: Simplify 0 into 0 24.167 * [backup-simplify]: Simplify 1 into 1 24.168 * [backup-simplify]: Simplify (/ 1 1) into 1 24.168 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 24.168 * [taylor]: Taking taylor expansion of phi2 in phi1 24.168 * [backup-simplify]: Simplify phi2 into phi2 24.168 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.168 * [backup-simplify]: Simplify (+ 1 0) into 1 24.169 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 24.169 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.169 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 lambda1)) in phi1 24.169 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.169 * [backup-simplify]: Simplify lambda2 into lambda2 24.169 * [taylor]: Taking taylor expansion of (* phi1 lambda1) in phi1 24.169 * [taylor]: Taking taylor expansion of phi1 in phi1 24.169 * [backup-simplify]: Simplify 0 into 0 24.169 * [backup-simplify]: Simplify 1 into 1 24.169 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.169 * [backup-simplify]: Simplify lambda1 into lambda1 24.170 * [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) 24.170 * [backup-simplify]: Simplify (* 0 lambda1) into 0 24.170 * [backup-simplify]: Simplify (* lambda2 0) into 0 24.170 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 24.170 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 24.171 * [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)) 24.171 * [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 24.171 * [taylor]: Taking taylor expansion of 2 in phi1 24.171 * [backup-simplify]: Simplify 2 into 2 24.171 * [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 24.171 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 24.171 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 24.171 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.171 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.171 * [backup-simplify]: Simplify 0.5 into 0.5 24.171 * [taylor]: Taking taylor expansion of phi1 in phi1 24.171 * [backup-simplify]: Simplify 0 into 0 24.171 * [backup-simplify]: Simplify 1 into 1 24.172 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.172 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.172 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 24.172 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 24.172 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 24.172 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.172 * [backup-simplify]: Simplify 0.5 into 0.5 24.172 * [taylor]: Taking taylor expansion of phi1 in phi1 24.172 * [backup-simplify]: Simplify 0 into 0 24.172 * [backup-simplify]: Simplify 1 into 1 24.173 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 24.173 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.173 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 24.173 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 24.173 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.173 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.173 * [backup-simplify]: Simplify 0.5 into 0.5 24.173 * [taylor]: Taking taylor expansion of phi2 in phi1 24.173 * [backup-simplify]: Simplify phi2 into phi2 24.173 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.173 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.173 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.173 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 24.173 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 24.173 * [taylor]: Taking taylor expansion of 0.5 in phi1 24.173 * [backup-simplify]: Simplify 0.5 into 0.5 24.173 * [taylor]: Taking taylor expansion of phi2 in phi1 24.173 * [backup-simplify]: Simplify phi2 into phi2 24.173 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.174 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.174 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.174 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 24.174 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.174 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.174 * [backup-simplify]: Simplify lambda2 into lambda2 24.174 * [taylor]: Taking taylor expansion of phi1 in phi1 24.174 * [backup-simplify]: Simplify 0 into 0 24.174 * [backup-simplify]: Simplify 1 into 1 24.174 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.174 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.174 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.174 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.174 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.175 * [backup-simplify]: Simplify (- 0) into 0 24.175 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.175 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 24.175 * [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)))) 24.176 * [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))))) 24.176 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.176 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 24.176 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.177 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 24.177 * [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)) 24.178 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) 24.180 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 24.182 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) 24.183 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) 24.183 * [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))) 24.184 * [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))) 24.185 * [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)))) 24.187 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (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))))) 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) 24.189 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 24.195 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 24.200 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) 24.201 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda1 24.201 * [taylor]: Taking taylor expansion of 1/2 in lambda1 24.201 * [backup-simplify]: Simplify 1/2 into 1/2 24.201 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1 24.201 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1 24.201 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 24.201 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 24.201 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 24.201 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 24.201 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.201 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.201 * [backup-simplify]: Simplify 0.5 into 0.5 24.201 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.201 * [backup-simplify]: Simplify phi1 into phi1 24.201 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.201 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.201 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.202 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 24.202 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 24.202 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 24.202 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 24.202 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 24.202 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.202 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.202 * [backup-simplify]: Simplify 0.5 into 0.5 24.202 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.202 * [backup-simplify]: Simplify phi2 into phi2 24.202 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.202 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.202 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.202 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.202 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.203 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.203 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.203 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.203 * [backup-simplify]: Simplify lambda2 into lambda2 24.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 24.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 24.203 * [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)) 24.203 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.204 * [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)) 24.204 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 24.204 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 24.204 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 24.204 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 24.204 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 24.204 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.204 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.204 * [backup-simplify]: Simplify 0.5 into 0.5 24.204 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.204 * [backup-simplify]: Simplify phi1 into phi1 24.204 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.204 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.205 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.205 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 24.205 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 24.205 * [backup-simplify]: Simplify (- 0) into 0 24.205 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 24.205 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 24.205 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 24.206 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.206 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.206 * [backup-simplify]: Simplify 0.5 into 0.5 24.206 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.206 * [backup-simplify]: Simplify phi2 into phi2 24.206 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.206 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.206 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.206 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.206 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.206 * [backup-simplify]: Simplify (- 0) into 0 24.207 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.207 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.207 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.207 * [backup-simplify]: Simplify 0 into 0 24.207 * [backup-simplify]: Simplify 1 into 1 24.207 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 24.207 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 24.207 * [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)) 24.208 * [backup-simplify]: Simplify (* 1 1) into 1 24.208 * [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)) 24.208 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 24.208 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 24.208 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 24.208 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 24.208 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 24.208 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.208 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.208 * [backup-simplify]: Simplify 0.5 into 0.5 24.208 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.209 * [backup-simplify]: Simplify phi1 into phi1 24.209 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.209 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.209 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.209 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 24.209 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 24.209 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 24.209 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 24.209 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 24.209 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.209 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.209 * [backup-simplify]: Simplify 0.5 into 0.5 24.209 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.209 * [backup-simplify]: Simplify phi2 into phi2 24.209 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.209 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.209 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.210 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.210 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.210 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.210 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.210 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.210 * [backup-simplify]: Simplify 0 into 0 24.210 * [backup-simplify]: Simplify 1 into 1 24.210 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 24.210 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 24.211 * [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)) 24.211 * [backup-simplify]: Simplify (* 1 1) into 1 24.211 * [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)) 24.211 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 24.211 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 24.212 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 24.212 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 24.212 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.212 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.212 * [backup-simplify]: Simplify 0.5 into 0.5 24.212 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.212 * [backup-simplify]: Simplify phi1 into phi1 24.212 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.212 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.212 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.212 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 24.212 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 24.212 * [backup-simplify]: Simplify (- 0) into 0 24.212 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 24.212 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 24.212 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 24.212 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.212 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.212 * [backup-simplify]: Simplify 0.5 into 0.5 24.212 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.212 * [backup-simplify]: Simplify phi2 into phi2 24.212 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.212 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.213 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.213 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.213 * [backup-simplify]: Simplify (- 0) into 0 24.213 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.213 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.213 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.213 * [backup-simplify]: Simplify lambda2 into lambda2 24.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 24.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 24.213 * [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)) 24.213 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.214 * [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)) 24.214 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1 24.214 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 24.214 * [taylor]: Taking taylor expansion of 2 in lambda1 24.214 * [backup-simplify]: Simplify 2 into 2 24.214 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 24.214 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 24.214 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 24.214 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 24.214 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.214 * [backup-simplify]: Simplify 0.5 into 0.5 24.214 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 24.214 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 24.214 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.214 * [backup-simplify]: Simplify phi1 into phi1 24.214 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.214 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 24.214 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.214 * [backup-simplify]: Simplify phi2 into phi2 24.214 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.214 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 24.214 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 24.214 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.214 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.215 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.215 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 24.215 * [backup-simplify]: Simplify (- 0) into 0 24.215 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.215 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 24.215 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.215 * [backup-simplify]: Simplify lambda2 into lambda2 24.215 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.215 * [backup-simplify]: Simplify 0 into 0 24.215 * [backup-simplify]: Simplify 1 into 1 24.215 * [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) 24.215 * [backup-simplify]: Simplify (* lambda2 0) into 0 24.216 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 24.216 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 24.216 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1 24.216 * [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 24.216 * [taylor]: Taking taylor expansion of 2 in lambda1 24.216 * [backup-simplify]: Simplify 2 into 2 24.216 * [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 24.216 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 24.216 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 24.216 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.216 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.216 * [backup-simplify]: Simplify 0.5 into 0.5 24.216 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.216 * [backup-simplify]: Simplify phi1 into phi1 24.216 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.216 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.216 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.216 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 24.216 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 24.216 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.216 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.216 * [backup-simplify]: Simplify 0.5 into 0.5 24.216 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.217 * [backup-simplify]: Simplify phi1 into phi1 24.217 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.217 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.217 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.217 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 24.217 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 24.217 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.217 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.217 * [backup-simplify]: Simplify 0.5 into 0.5 24.217 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.217 * [backup-simplify]: Simplify phi2 into phi2 24.217 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.217 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.217 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.217 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 24.217 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.217 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.217 * [backup-simplify]: Simplify 0.5 into 0.5 24.217 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.217 * [backup-simplify]: Simplify phi2 into phi2 24.217 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.217 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.217 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.217 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.217 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.217 * [backup-simplify]: Simplify lambda2 into lambda2 24.217 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 24.217 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 24.218 * [backup-simplify]: Simplify (- 0) into 0 24.218 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 24.218 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 24.218 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 24.218 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 24.218 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.218 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.218 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.218 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.218 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.218 * [backup-simplify]: Simplify (- 0) into 0 24.218 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.219 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 24.219 * [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)))) 24.219 * [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))))) 24.219 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.219 * [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)) 24.219 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1 24.219 * [taylor]: Taking taylor expansion of 2 in lambda1 24.219 * [backup-simplify]: Simplify 2 into 2 24.219 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1 24.219 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 24.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 24.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.219 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.219 * [backup-simplify]: Simplify 0.5 into 0.5 24.219 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.219 * [backup-simplify]: Simplify phi1 into phi1 24.220 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.220 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 24.220 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 24.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.220 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.220 * [backup-simplify]: Simplify 0.5 into 0.5 24.220 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.220 * [backup-simplify]: Simplify phi1 into phi1 24.220 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.220 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 24.220 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 24.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.220 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.220 * [backup-simplify]: Simplify 0.5 into 0.5 24.220 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.220 * [backup-simplify]: Simplify phi2 into phi2 24.220 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.220 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 24.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.220 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.220 * [backup-simplify]: Simplify 0.5 into 0.5 24.220 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.220 * [backup-simplify]: Simplify phi2 into phi2 24.220 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.220 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.220 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.220 * [backup-simplify]: Simplify 0 into 0 24.220 * [backup-simplify]: Simplify 1 into 1 24.221 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 24.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 24.221 * [backup-simplify]: Simplify (- 0) into 0 24.221 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 24.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 24.221 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 24.221 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 24.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.221 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.221 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.221 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.222 * [backup-simplify]: Simplify (- 0) into 0 24.222 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.222 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 24.222 * [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)))) 24.222 * [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))))) 24.222 * [backup-simplify]: Simplify (* 1 1) into 1 24.223 * [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))))) 24.223 * [backup-simplify]: Simplify (+ 0) into 0 24.223 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 24.223 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 24.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.224 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 24.224 * [backup-simplify]: Simplify (- 0) into 0 24.225 * [backup-simplify]: Simplify (+ 0 0) into 0 24.225 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 24.225 * [backup-simplify]: Simplify (+ 0) into 0 24.225 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.225 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.226 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.226 * [backup-simplify]: Simplify (- 0) into 0 24.227 * [backup-simplify]: Simplify (+ 0 0) into 0 24.227 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 24.227 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 24.227 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.228 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 24.228 * [backup-simplify]: Simplify (+ 0) into 0 24.229 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 24.229 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 24.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.229 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 24.230 * [backup-simplify]: Simplify (+ 0 0) into 0 24.230 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 24.230 * [backup-simplify]: Simplify (+ 0) into 0 24.230 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.230 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.231 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.231 * [backup-simplify]: Simplify (+ 0 0) into 0 24.232 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 24.232 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 24.232 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.233 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 24.233 * [backup-simplify]: Simplify (+ 0 0) into 0 24.233 * [backup-simplify]: Simplify (+ 0 0) into 0 24.234 * [backup-simplify]: Simplify (+ 0 0) into 0 24.234 * [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)) 24.234 * [backup-simplify]: Simplify (+ 0) into 0 24.234 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 24.235 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 24.235 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.236 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 24.236 * [backup-simplify]: Simplify (- 0) into 0 24.236 * [backup-simplify]: Simplify (+ 0 0) into 0 24.237 * [backup-simplify]: Simplify (+ 0) into 0 24.237 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 24.237 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 24.237 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.238 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 24.238 * [backup-simplify]: Simplify (+ 0 0) into 0 24.238 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 24.238 * [backup-simplify]: Simplify (+ 0) into 0 24.239 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.239 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.240 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.240 * [backup-simplify]: Simplify (+ 0 0) into 0 24.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 24.240 * [backup-simplify]: Simplify (+ 0) into 0 24.241 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.241 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.241 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.242 * [backup-simplify]: Simplify (- 0) into 0 24.242 * [backup-simplify]: Simplify (+ 0 0) into 0 24.242 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 24.243 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.247 * [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 24.248 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 24.249 * [backup-simplify]: Simplify (+ 0 0) into 0 24.249 * [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)) 24.249 * [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))) 24.249 * [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))) 24.250 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 0) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 24.250 * [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))) 24.250 * [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))) 24.251 * [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)))))) 24.251 * [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)))))) 24.251 * [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)))))) 24.251 * [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))))))) 24.252 * [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))))))) 24.253 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 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) lambda2)) 24.253 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 24.253 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 24.253 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 24.253 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 24.253 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 24.253 * [taylor]: Taking taylor expansion of 0.5 in lambda2 24.253 * [backup-simplify]: Simplify 0.5 into 0.5 24.253 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 24.253 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 24.253 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.253 * [backup-simplify]: Simplify phi1 into phi1 24.253 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.253 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 24.253 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.253 * [backup-simplify]: Simplify phi2 into phi2 24.254 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.254 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 24.254 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 24.254 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.254 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.254 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.254 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 24.254 * [backup-simplify]: Simplify (- 0) into 0 24.255 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.255 * [taylor]: Taking taylor expansion of lambda2 in lambda2 24.255 * [backup-simplify]: Simplify 0 into 0 24.255 * [backup-simplify]: Simplify 1 into 1 24.255 * [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) 24.255 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 24.255 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 24.255 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 24.256 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) 24.257 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) 24.258 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) 24.259 * [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))) 24.259 * [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))) 24.259 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) 24.260 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) 24.261 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) 24.263 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 24.266 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 24.268 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) 24.269 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda1 24.269 * [taylor]: Taking taylor expansion of 1/2 in lambda1 24.269 * [backup-simplify]: Simplify 1/2 into 1/2 24.269 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1 24.269 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1 24.269 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 24.269 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 24.269 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 24.269 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 24.269 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.269 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.269 * [backup-simplify]: Simplify 0.5 into 0.5 24.269 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.269 * [backup-simplify]: Simplify phi1 into phi1 24.269 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.269 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.269 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.269 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 24.269 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 24.269 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 24.269 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 24.269 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 24.269 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.269 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.269 * [backup-simplify]: Simplify 0.5 into 0.5 24.269 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.269 * [backup-simplify]: Simplify phi2 into phi2 24.269 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.269 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.270 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.270 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.270 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.270 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.270 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.270 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.270 * [backup-simplify]: Simplify lambda2 into lambda2 24.270 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 24.270 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 24.270 * [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)) 24.270 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.270 * [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)) 24.270 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 24.270 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 24.271 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 24.271 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 24.271 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 24.271 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.271 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.271 * [backup-simplify]: Simplify 0.5 into 0.5 24.271 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.271 * [backup-simplify]: Simplify phi1 into phi1 24.271 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.271 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.271 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.271 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 24.271 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 24.271 * [backup-simplify]: Simplify (- 0) into 0 24.271 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 24.271 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 24.271 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 24.271 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.271 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.271 * [backup-simplify]: Simplify 0.5 into 0.5 24.272 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.272 * [backup-simplify]: Simplify phi2 into phi2 24.272 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.272 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.272 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.272 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.272 * [backup-simplify]: Simplify (- 0) into 0 24.272 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.272 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.272 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.272 * [backup-simplify]: Simplify 0 into 0 24.272 * [backup-simplify]: Simplify 1 into 1 24.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 24.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 24.273 * [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)) 24.273 * [backup-simplify]: Simplify (* 1 1) into 1 24.273 * [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)) 24.273 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 24.273 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 24.273 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 24.273 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 24.273 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 24.273 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.273 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.273 * [backup-simplify]: Simplify 0.5 into 0.5 24.273 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.273 * [backup-simplify]: Simplify phi1 into phi1 24.273 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.273 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.273 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.273 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 24.274 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 24.274 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 24.274 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 24.274 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 24.274 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.274 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.274 * [backup-simplify]: Simplify 0.5 into 0.5 24.274 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.274 * [backup-simplify]: Simplify phi2 into phi2 24.274 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.274 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.274 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.274 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.274 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.274 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.274 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.274 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.274 * [backup-simplify]: Simplify 0 into 0 24.274 * [backup-simplify]: Simplify 1 into 1 24.274 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 24.274 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 24.275 * [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)) 24.275 * [backup-simplify]: Simplify (* 1 1) into 1 24.275 * [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)) 24.275 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 24.275 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 24.275 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 24.275 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 24.275 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.275 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.275 * [backup-simplify]: Simplify 0.5 into 0.5 24.275 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.275 * [backup-simplify]: Simplify phi1 into phi1 24.275 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.275 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.275 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.275 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 24.276 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 24.276 * [backup-simplify]: Simplify (- 0) into 0 24.276 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 24.276 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 24.276 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 24.276 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.276 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.276 * [backup-simplify]: Simplify 0.5 into 0.5 24.276 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.276 * [backup-simplify]: Simplify phi2 into phi2 24.276 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.276 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.276 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.276 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.276 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.277 * [backup-simplify]: Simplify (- 0) into 0 24.277 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.277 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.277 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.277 * [backup-simplify]: Simplify lambda2 into lambda2 24.277 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 24.277 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 24.277 * [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)) 24.277 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.277 * [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)) 24.277 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1 24.277 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 24.277 * [taylor]: Taking taylor expansion of 2 in lambda1 24.277 * [backup-simplify]: Simplify 2 into 2 24.277 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 24.278 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 24.278 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 24.278 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 24.278 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.278 * [backup-simplify]: Simplify 0.5 into 0.5 24.278 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 24.278 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 24.278 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.278 * [backup-simplify]: Simplify phi1 into phi1 24.278 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.278 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 24.278 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.278 * [backup-simplify]: Simplify phi2 into phi2 24.278 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.278 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 24.278 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 24.278 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.278 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.278 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.278 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 24.279 * [backup-simplify]: Simplify (- 0) into 0 24.279 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.279 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 24.279 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.279 * [backup-simplify]: Simplify lambda2 into lambda2 24.279 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.279 * [backup-simplify]: Simplify 0 into 0 24.279 * [backup-simplify]: Simplify 1 into 1 24.279 * [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) 24.279 * [backup-simplify]: Simplify (* lambda2 0) into 0 24.279 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 24.280 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 24.280 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1 24.280 * [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 24.280 * [taylor]: Taking taylor expansion of 2 in lambda1 24.280 * [backup-simplify]: Simplify 2 into 2 24.280 * [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 24.280 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 24.280 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 24.280 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.280 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.280 * [backup-simplify]: Simplify 0.5 into 0.5 24.280 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.280 * [backup-simplify]: Simplify phi1 into phi1 24.280 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.280 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.280 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.280 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 24.280 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 24.280 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.280 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.280 * [backup-simplify]: Simplify 0.5 into 0.5 24.281 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.281 * [backup-simplify]: Simplify phi1 into phi1 24.281 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.281 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.281 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.281 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 24.281 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 24.281 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.281 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.281 * [backup-simplify]: Simplify 0.5 into 0.5 24.281 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.281 * [backup-simplify]: Simplify phi2 into phi2 24.281 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.281 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.281 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.281 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 24.281 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.281 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.281 * [backup-simplify]: Simplify 0.5 into 0.5 24.281 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.281 * [backup-simplify]: Simplify phi2 into phi2 24.281 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.282 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.282 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.282 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.282 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.282 * [backup-simplify]: Simplify lambda2 into lambda2 24.282 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 24.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 24.282 * [backup-simplify]: Simplify (- 0) into 0 24.283 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 24.283 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 24.283 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 24.283 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 24.283 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.283 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.283 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.283 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.283 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.284 * [backup-simplify]: Simplify (- 0) into 0 24.284 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 24.284 * [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)))) 24.285 * [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))))) 24.285 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.285 * [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)) 24.285 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1 24.285 * [taylor]: Taking taylor expansion of 2 in lambda1 24.285 * [backup-simplify]: Simplify 2 into 2 24.285 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1 24.285 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 24.286 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 24.286 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.286 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.286 * [backup-simplify]: Simplify 0.5 into 0.5 24.286 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.286 * [backup-simplify]: Simplify phi1 into phi1 24.286 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.286 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.286 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.286 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 24.286 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 24.286 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 24.286 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.286 * [backup-simplify]: Simplify 0.5 into 0.5 24.286 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.286 * [backup-simplify]: Simplify phi1 into phi1 24.286 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 24.286 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 24.286 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 24.286 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 24.286 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 24.286 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.286 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.287 * [backup-simplify]: Simplify 0.5 into 0.5 24.287 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.287 * [backup-simplify]: Simplify phi2 into phi2 24.287 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.287 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.287 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.287 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 24.287 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 24.287 * [taylor]: Taking taylor expansion of 0.5 in lambda1 24.287 * [backup-simplify]: Simplify 0.5 into 0.5 24.287 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.287 * [backup-simplify]: Simplify phi2 into phi2 24.287 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 24.287 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 24.287 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 24.287 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.287 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.287 * [backup-simplify]: Simplify 0 into 0 24.287 * [backup-simplify]: Simplify 1 into 1 24.287 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 24.288 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 24.288 * [backup-simplify]: Simplify (- 0) into 0 24.288 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 24.288 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 24.288 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 24.289 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 24.289 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 24.289 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 24.289 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 24.289 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 24.289 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 24.289 * [backup-simplify]: Simplify (- 0) into 0 24.290 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 24.290 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 24.290 * [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)))) 24.290 * [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))))) 24.291 * [backup-simplify]: Simplify (* 1 1) into 1 24.291 * [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))))) 24.292 * [backup-simplify]: Simplify (+ 0) into 0 24.292 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 24.292 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 24.293 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.294 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 24.294 * [backup-simplify]: Simplify (- 0) into 0 24.295 * [backup-simplify]: Simplify (+ 0 0) into 0 24.295 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 24.295 * [backup-simplify]: Simplify (+ 0) into 0 24.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.296 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.297 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.297 * [backup-simplify]: Simplify (- 0) into 0 24.298 * [backup-simplify]: Simplify (+ 0 0) into 0 24.298 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 24.298 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 24.299 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.300 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 24.301 * [backup-simplify]: Simplify (+ 0) into 0 24.301 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 24.301 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 24.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.303 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 24.303 * [backup-simplify]: Simplify (+ 0 0) into 0 24.303 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 24.304 * [backup-simplify]: Simplify (+ 0) into 0 24.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.304 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.305 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.306 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.306 * [backup-simplify]: Simplify (+ 0 0) into 0 24.306 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 24.307 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 24.307 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.308 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 24.309 * [backup-simplify]: Simplify (+ 0 0) into 0 24.309 * [backup-simplify]: Simplify (+ 0 0) into 0 24.309 * [backup-simplify]: Simplify (+ 0 0) into 0 24.310 * [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)) 24.310 * [backup-simplify]: Simplify (+ 0) into 0 24.311 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 24.311 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 24.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.312 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 24.313 * [backup-simplify]: Simplify (- 0) into 0 24.313 * [backup-simplify]: Simplify (+ 0 0) into 0 24.313 * [backup-simplify]: Simplify (+ 0) into 0 24.314 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 24.314 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 24.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.316 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 24.316 * [backup-simplify]: Simplify (+ 0 0) into 0 24.316 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 24.317 * [backup-simplify]: Simplify (+ 0) into 0 24.317 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.317 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.318 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.319 * [backup-simplify]: Simplify (+ 0 0) into 0 24.319 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 24.320 * [backup-simplify]: Simplify (+ 0) into 0 24.320 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 24.320 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 24.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.322 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 24.322 * [backup-simplify]: Simplify (- 0) into 0 24.322 * [backup-simplify]: Simplify (+ 0 0) into 0 24.323 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 24.323 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.325 * [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 24.325 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 24.326 * [backup-simplify]: Simplify (+ 0 0) into 0 24.326 * [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)) 24.327 * [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))) 24.327 * [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))) 24.328 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 0) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 24.329 * [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))) 24.329 * [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))) 24.330 * [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)))))) 24.330 * [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)))))) 24.331 * [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)))))) 24.331 * [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))))))) 24.332 * [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))))))) 24.334 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 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) lambda2)) 24.334 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 24.334 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 24.334 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 24.335 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 24.335 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 24.335 * [taylor]: Taking taylor expansion of 0.5 in lambda2 24.335 * [backup-simplify]: Simplify 0.5 into 0.5 24.335 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 24.335 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 24.335 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.335 * [backup-simplify]: Simplify phi1 into phi1 24.335 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.335 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 24.335 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.335 * [backup-simplify]: Simplify phi2 into phi2 24.335 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.335 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 24.335 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 24.335 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.336 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.336 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.336 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 24.337 * [backup-simplify]: Simplify (- 0) into 0 24.337 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.337 * [taylor]: Taking taylor expansion of lambda2 in lambda2 24.337 * [backup-simplify]: Simplify 0 into 0 24.337 * [backup-simplify]: Simplify 1 into 1 24.337 * [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) 24.338 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 24.338 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 24.338 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 24.340 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 24.340 * [taylor]: Taking taylor expansion of 0 in lambda1 24.340 * [backup-simplify]: Simplify 0 into 0 24.340 * [taylor]: Taking taylor expansion of 0 in lambda1 24.340 * [backup-simplify]: Simplify 0 into 0 24.340 * [taylor]: Taking taylor expansion of 0 in lambda2 24.340 * [backup-simplify]: Simplify 0 into 0 24.340 * [taylor]: Taking taylor expansion of 0 in lambda2 24.340 * [backup-simplify]: Simplify 0 into 0 24.340 * [taylor]: Taking taylor expansion of 0 in lambda2 24.340 * [backup-simplify]: Simplify 0 into 0 24.340 * [taylor]: Taking taylor expansion of 0 in lambda2 24.340 * [backup-simplify]: Simplify 0 into 0 24.340 * [backup-simplify]: Simplify -1 into -1 24.342 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* (/ 1 (/ 1 phi1)) 1)))) (+ (* (- (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2)) (* (/ 1 (/ 1 lambda2)) (* (/ 1 (/ 1 lambda1)) (* 1 (/ 1 phi2))))) (* (- (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2)) (* (/ 1 (/ 1 lambda2)) (* (/ 1 (/ 1 lambda1)) (* (/ 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))) 24.346 * [backup-simplify]: Simplify (sqrt (+ (- (* (pow (- (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5))) (* (sin (* 0.5 (/ 1 (- phi2)))) (sin (* 0.5 (/ 1 (- phi1)))))) 2) (+ (pow (/ 1 (- lambda1)) 2) (pow (/ 1 (- lambda2)) 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)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) 24.346 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in (phi2 phi1 lambda1 lambda2) around 0 24.346 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in lambda2 24.346 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in lambda2 24.347 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in lambda2 24.347 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 24.347 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 24.347 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.347 * [backup-simplify]: Simplify phi2 into phi2 24.347 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 24.347 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 24.347 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda2 24.347 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 24.347 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 24.347 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.347 * [backup-simplify]: Simplify phi1 into phi1 24.347 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 24.347 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 24.347 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda2 24.347 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2 24.347 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 24.347 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 24.348 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 24.348 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 24.348 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.348 * [backup-simplify]: Simplify -0.5 into -0.5 24.348 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.348 * [backup-simplify]: Simplify phi2 into phi2 24.348 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.348 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.348 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.348 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.348 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.348 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.348 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 24.348 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 24.348 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 24.348 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.348 * [backup-simplify]: Simplify -0.5 into -0.5 24.348 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.349 * [backup-simplify]: Simplify phi1 into phi1 24.349 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.349 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.349 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.349 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.349 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.349 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 24.349 * [taylor]: Taking taylor expansion of lambda1 in lambda2 24.349 * [backup-simplify]: Simplify lambda1 into lambda1 24.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.350 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.350 * [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)) 24.350 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.350 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 24.350 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2 24.351 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 24.351 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 24.351 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 24.351 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 24.351 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 24.351 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.351 * [backup-simplify]: Simplify -0.5 into -0.5 24.351 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.351 * [backup-simplify]: Simplify phi2 into phi2 24.351 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.351 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.351 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.351 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.351 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.352 * [backup-simplify]: Simplify (- 0) into 0 24.352 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.352 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 24.352 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 24.352 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 24.352 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.352 * [backup-simplify]: Simplify -0.5 into -0.5 24.352 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.352 * [backup-simplify]: Simplify phi1 into phi1 24.352 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.352 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.352 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.353 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.353 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.353 * [backup-simplify]: Simplify (- 0) into 0 24.353 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.353 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 24.354 * [taylor]: Taking taylor expansion of lambda2 in lambda2 24.354 * [backup-simplify]: Simplify 0 into 0 24.354 * [backup-simplify]: Simplify 1 into 1 24.354 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.354 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.354 * [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)) 24.355 * [backup-simplify]: Simplify (* 1 1) into 1 24.355 * [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)) 24.355 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2 24.355 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2 24.355 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 24.355 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 24.355 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 24.355 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 24.355 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.355 * [backup-simplify]: Simplify -0.5 into -0.5 24.355 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.355 * [backup-simplify]: Simplify phi2 into phi2 24.356 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.356 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.356 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.356 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.356 * [backup-simplify]: Simplify (- 0) into 0 24.356 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.356 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 24.357 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 24.357 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 24.357 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.357 * [backup-simplify]: Simplify -0.5 into -0.5 24.357 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.357 * [backup-simplify]: Simplify phi1 into phi1 24.357 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.357 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.357 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.357 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.357 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.358 * [backup-simplify]: Simplify (- 0) into 0 24.358 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.358 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 24.358 * [taylor]: Taking taylor expansion of lambda1 in lambda2 24.358 * [backup-simplify]: Simplify lambda1 into lambda1 24.358 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.358 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.358 * [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)) 24.359 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.359 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 24.359 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 24.359 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 24.359 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 24.359 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 24.359 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 24.359 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.359 * [backup-simplify]: Simplify -0.5 into -0.5 24.359 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.359 * [backup-simplify]: Simplify phi2 into phi2 24.359 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.359 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.360 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.360 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.360 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.360 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.360 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 24.360 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 24.360 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 24.360 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.360 * [backup-simplify]: Simplify -0.5 into -0.5 24.360 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.360 * [backup-simplify]: Simplify phi1 into phi1 24.360 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.360 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.360 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.361 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.361 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.361 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.361 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 24.361 * [taylor]: Taking taylor expansion of lambda2 in lambda2 24.361 * [backup-simplify]: Simplify 0 into 0 24.361 * [backup-simplify]: Simplify 1 into 1 24.361 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.361 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.362 * [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)) 24.362 * [backup-simplify]: Simplify (* 1 1) into 1 24.362 * [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)) 24.363 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in lambda2 24.363 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 24.363 * [taylor]: Taking taylor expansion of 2 in lambda2 24.363 * [backup-simplify]: Simplify 2 into 2 24.363 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 24.363 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 24.363 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 24.363 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 24.363 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.363 * [backup-simplify]: Simplify -0.5 into -0.5 24.363 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 24.363 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 24.363 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.363 * [backup-simplify]: Simplify phi1 into phi1 24.363 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.363 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 24.363 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.363 * [backup-simplify]: Simplify phi2 into phi2 24.363 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.363 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 24.364 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 24.364 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.364 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.364 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.364 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 24.365 * [backup-simplify]: Simplify (- 0) into 0 24.365 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.365 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 24.365 * [taylor]: Taking taylor expansion of lambda2 in lambda2 24.365 * [backup-simplify]: Simplify 0 into 0 24.365 * [backup-simplify]: Simplify 1 into 1 24.365 * [taylor]: Taking taylor expansion of lambda1 in lambda2 24.365 * [backup-simplify]: Simplify lambda1 into lambda1 24.365 * [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) 24.366 * [backup-simplify]: Simplify (* 0 lambda1) into 0 24.366 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 24.366 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 24.366 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in lambda2 24.366 * [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 24.367 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2 24.367 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 24.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 24.367 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.367 * [backup-simplify]: Simplify -0.5 into -0.5 24.367 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.367 * [backup-simplify]: Simplify phi1 into phi1 24.367 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.367 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2 24.367 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 24.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 24.367 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.367 * [backup-simplify]: Simplify -0.5 into -0.5 24.367 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.367 * [backup-simplify]: Simplify phi2 into phi2 24.367 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.368 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 24.368 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 24.368 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 24.368 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.368 * [backup-simplify]: Simplify -0.5 into -0.5 24.368 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.368 * [backup-simplify]: Simplify phi2 into phi2 24.368 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.368 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.368 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.368 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 24.368 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 24.368 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.368 * [backup-simplify]: Simplify -0.5 into -0.5 24.368 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.368 * [backup-simplify]: Simplify phi1 into phi1 24.368 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.368 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.368 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.368 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 24.368 * [taylor]: Taking taylor expansion of lambda2 in lambda2 24.369 * [backup-simplify]: Simplify 0 into 0 24.369 * [backup-simplify]: Simplify 1 into 1 24.369 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.369 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.369 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.370 * [backup-simplify]: Simplify (- 0) into 0 24.370 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.370 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.370 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.370 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.370 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.370 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.371 * [backup-simplify]: Simplify (- 0) into 0 24.371 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.371 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.371 * [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)))) 24.372 * [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))))) 24.372 * [backup-simplify]: Simplify (* 1 1) into 1 24.372 * [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))))) 24.372 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in lambda2 24.372 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2 24.373 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 24.373 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 24.373 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 24.373 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.373 * [backup-simplify]: Simplify -0.5 into -0.5 24.373 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.373 * [backup-simplify]: Simplify phi1 into phi1 24.373 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.373 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.373 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.373 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 24.373 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 24.373 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 24.373 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.373 * [backup-simplify]: Simplify -0.5 into -0.5 24.373 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.373 * [backup-simplify]: Simplify phi2 into phi2 24.373 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.373 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.373 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.374 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 24.374 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 24.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 24.374 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.374 * [backup-simplify]: Simplify -0.5 into -0.5 24.374 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.374 * [backup-simplify]: Simplify phi2 into phi2 24.374 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.374 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.374 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.374 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 24.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 24.374 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.374 * [backup-simplify]: Simplify -0.5 into -0.5 24.374 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.374 * [backup-simplify]: Simplify phi1 into phi1 24.374 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.374 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.374 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.374 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 24.374 * [taylor]: Taking taylor expansion of lambda1 in lambda2 24.375 * [backup-simplify]: Simplify lambda1 into lambda1 24.375 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.375 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.375 * [backup-simplify]: Simplify (- 0) into 0 24.375 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.376 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.377 * [backup-simplify]: Simplify (- 0) into 0 24.377 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.377 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.377 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.378 * [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)))) 24.378 * [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))))) 24.378 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.379 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) 24.379 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in lambda2 24.379 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 24.379 * [taylor]: Taking taylor expansion of 2 in lambda2 24.379 * [backup-simplify]: Simplify 2 into 2 24.379 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 24.379 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 24.379 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.379 * [backup-simplify]: Simplify phi2 into phi2 24.379 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.379 * [backup-simplify]: Simplify phi1 into phi1 24.379 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 24.379 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 24.379 * [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 lambda1 2))) in lambda2 24.379 * [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 24.379 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 24.379 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 24.379 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 24.379 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.379 * [backup-simplify]: Simplify -0.5 into -0.5 24.379 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.379 * [backup-simplify]: Simplify phi1 into phi1 24.379 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.380 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.380 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.380 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 24.380 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 24.380 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 24.380 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.380 * [backup-simplify]: Simplify -0.5 into -0.5 24.380 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.380 * [backup-simplify]: Simplify phi2 into phi2 24.380 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.380 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.380 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.380 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 24.380 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 24.380 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 24.380 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.380 * [backup-simplify]: Simplify -0.5 into -0.5 24.380 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.380 * [backup-simplify]: Simplify phi2 into phi2 24.380 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.381 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.381 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.381 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 24.381 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 24.381 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.381 * [backup-simplify]: Simplify -0.5 into -0.5 24.381 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.381 * [backup-simplify]: Simplify phi1 into phi1 24.381 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.381 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.381 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.381 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 24.381 * [taylor]: Taking taylor expansion of lambda2 in lambda2 24.381 * [backup-simplify]: Simplify 0 into 0 24.381 * [backup-simplify]: Simplify 1 into 1 24.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.382 * [backup-simplify]: Simplify (- 0) into 0 24.382 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.382 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.382 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.383 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.383 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.383 * [backup-simplify]: Simplify (- 0) into 0 24.383 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.383 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.383 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.384 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.384 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.384 * [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)))) 24.384 * [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))))) 24.384 * [backup-simplify]: Simplify (* 1 1) into 1 24.384 * [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))))) 24.384 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2 24.385 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2 24.385 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 24.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 24.385 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.385 * [backup-simplify]: Simplify -0.5 into -0.5 24.385 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.385 * [backup-simplify]: Simplify phi1 into phi1 24.385 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.385 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.385 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.385 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2 24.385 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 24.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 24.385 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.385 * [backup-simplify]: Simplify -0.5 into -0.5 24.385 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.385 * [backup-simplify]: Simplify phi2 into phi2 24.385 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.385 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.385 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.385 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 24.385 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 24.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 24.385 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.385 * [backup-simplify]: Simplify -0.5 into -0.5 24.385 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.385 * [backup-simplify]: Simplify phi2 into phi2 24.385 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.385 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.385 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.385 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 24.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 24.385 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.385 * [backup-simplify]: Simplify -0.5 into -0.5 24.385 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.385 * [backup-simplify]: Simplify phi1 into phi1 24.385 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.386 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.386 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.386 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 24.386 * [taylor]: Taking taylor expansion of lambda1 in lambda2 24.386 * [backup-simplify]: Simplify lambda1 into lambda1 24.386 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.386 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.386 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.386 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.386 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.386 * [backup-simplify]: Simplify (- 0) into 0 24.386 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.386 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.386 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.387 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.387 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.387 * [backup-simplify]: Simplify (- 0) into 0 24.387 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.387 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.387 * [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)))) 24.387 * [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))))) 24.387 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.388 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 24.388 * [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)) 24.389 * [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))) 24.389 * [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))) 24.390 * [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))) 24.390 * [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))) 24.390 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 24.390 * [backup-simplify]: Simplify (+ 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 24.391 * [backup-simplify]: Simplify (+ 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 24.391 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -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)))))) 24.392 * [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)))))) 24.392 * [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))))))) 24.393 * [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))))))) 24.394 * [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)))))))) 24.394 * [backup-simplify]: Simplify (+ 0) into 0 24.395 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.395 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.396 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.396 * [backup-simplify]: Simplify (- 0) into 0 24.396 * [backup-simplify]: Simplify (+ 0 0) into 0 24.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.397 * [backup-simplify]: Simplify (+ 0) into 0 24.397 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.397 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.397 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.398 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.398 * [backup-simplify]: Simplify (- 0) into 0 24.398 * [backup-simplify]: Simplify (+ 0 0) into 0 24.398 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.399 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.399 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.400 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 24.400 * [backup-simplify]: Simplify (+ 0) into 0 24.405 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.406 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.407 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.407 * [backup-simplify]: Simplify (+ 0 0) into 0 24.407 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.407 * [backup-simplify]: Simplify (+ 0) into 0 24.408 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.408 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.408 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.409 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.409 * [backup-simplify]: Simplify (+ 0 0) into 0 24.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.409 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.410 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.410 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 24.411 * [backup-simplify]: Simplify (+ 0 0) into 0 24.411 * [backup-simplify]: Simplify (+ 0 0) into 0 24.411 * [backup-simplify]: Simplify (+ 0 0) into 0 24.411 * [backup-simplify]: Simplify (+ 0 0) into 0 24.411 * [backup-simplify]: Simplify (+ 0 0) into 0 24.412 * [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)) 24.412 * [backup-simplify]: Simplify (+ 0) into 0 24.412 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.412 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.413 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.413 * [backup-simplify]: Simplify (- 0) into 0 24.414 * [backup-simplify]: Simplify (+ 0 0) into 0 24.414 * [backup-simplify]: Simplify (+ 0) into 0 24.414 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.414 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.415 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.415 * [backup-simplify]: Simplify (+ 0 0) into 0 24.415 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.416 * [backup-simplify]: Simplify (+ 0) into 0 24.416 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.416 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.417 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.417 * [backup-simplify]: Simplify (- 0) into 0 24.417 * [backup-simplify]: Simplify (+ 0 0) into 0 24.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 24.418 * [backup-simplify]: Simplify (+ 0) into 0 24.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.418 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.419 * [backup-simplify]: Simplify (+ 0 0) into 0 24.419 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 24.420 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.421 * [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 24.422 * [backup-simplify]: Simplify (+ 0) into 0 24.422 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.422 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.424 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.424 * [backup-simplify]: Simplify (+ 0 0) into 0 24.424 * [backup-simplify]: Simplify (+ 0) into 0 24.425 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.425 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.426 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.427 * [backup-simplify]: Simplify (- 0) into 0 24.427 * [backup-simplify]: Simplify (+ 0 0) into 0 24.427 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.428 * [backup-simplify]: Simplify (+ 0) into 0 24.428 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.428 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.430 * [backup-simplify]: Simplify (+ 0 0) into 0 24.430 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 24.431 * [backup-simplify]: Simplify (+ 0) into 0 24.431 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.431 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.433 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.433 * [backup-simplify]: Simplify (- 0) into 0 24.433 * [backup-simplify]: Simplify (+ 0 0) into 0 24.434 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 24.434 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.436 * [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 24.436 * [backup-simplify]: Simplify (+ 0 0) into 0 24.436 * [backup-simplify]: Simplify (+ 0 0) into 0 24.437 * [backup-simplify]: Simplify (+ 0 0) into 0 24.437 * [backup-simplify]: Simplify (+ 0 0) into 0 24.438 * [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)) 24.438 * [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))) 24.439 * [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))) 24.441 * [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 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 (* (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))) 24.441 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in lambda1 24.441 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in lambda1 24.441 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in lambda1 24.441 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 24.441 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 24.441 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.441 * [backup-simplify]: Simplify phi2 into phi2 24.442 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 24.442 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 24.442 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda1 24.442 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 24.442 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 24.442 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.442 * [backup-simplify]: Simplify phi1 into phi1 24.442 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 24.442 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 24.442 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1 24.442 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 24.442 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 24.442 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 24.442 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.442 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.442 * [backup-simplify]: Simplify -0.5 into -0.5 24.442 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.442 * [backup-simplify]: Simplify phi2 into phi2 24.443 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.443 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.443 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.443 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 24.443 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.443 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.443 * [backup-simplify]: Simplify -0.5 into -0.5 24.443 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.443 * [backup-simplify]: Simplify phi1 into phi1 24.443 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.444 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.444 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.444 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.444 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.444 * [backup-simplify]: Simplify 0 into 0 24.444 * [backup-simplify]: Simplify 1 into 1 24.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.445 * [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)) 24.445 * [backup-simplify]: Simplify (* 1 1) into 1 24.446 * [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)) 24.446 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 24.446 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 24.446 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 24.446 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 24.446 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.446 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.446 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.446 * [backup-simplify]: Simplify -0.5 into -0.5 24.446 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.446 * [backup-simplify]: Simplify phi2 into phi2 24.446 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.446 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.446 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.446 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.447 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.447 * [backup-simplify]: Simplify (- 0) into 0 24.447 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.447 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 24.447 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.447 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.447 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.447 * [backup-simplify]: Simplify -0.5 into -0.5 24.447 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.447 * [backup-simplify]: Simplify phi1 into phi1 24.447 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.447 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.447 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.448 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.448 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.448 * [backup-simplify]: Simplify (- 0) into 0 24.448 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.448 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.448 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.448 * [backup-simplify]: Simplify lambda2 into lambda2 24.448 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.448 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.448 * [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)) 24.448 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.449 * [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)) 24.449 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 24.449 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 24.449 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 24.449 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 24.449 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.449 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.449 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.449 * [backup-simplify]: Simplify -0.5 into -0.5 24.449 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.449 * [backup-simplify]: Simplify phi2 into phi2 24.449 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.449 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.449 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.449 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.449 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.449 * [backup-simplify]: Simplify (- 0) into 0 24.449 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.450 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 24.450 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.450 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.450 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.450 * [backup-simplify]: Simplify -0.5 into -0.5 24.450 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.450 * [backup-simplify]: Simplify phi1 into phi1 24.450 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.450 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.450 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.450 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.450 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.450 * [backup-simplify]: Simplify (- 0) into 0 24.450 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.450 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.450 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.450 * [backup-simplify]: Simplify 0 into 0 24.450 * [backup-simplify]: Simplify 1 into 1 24.450 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.450 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.451 * [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)) 24.451 * [backup-simplify]: Simplify (* 1 1) into 1 24.451 * [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)) 24.451 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 24.451 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 24.451 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 24.451 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.451 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.451 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.451 * [backup-simplify]: Simplify -0.5 into -0.5 24.451 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.451 * [backup-simplify]: Simplify phi2 into phi2 24.451 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.451 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.451 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.452 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.452 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.452 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.452 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 24.452 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.452 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.452 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.452 * [backup-simplify]: Simplify -0.5 into -0.5 24.452 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.452 * [backup-simplify]: Simplify phi1 into phi1 24.452 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.452 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.452 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.452 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.452 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.452 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.452 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.452 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.452 * [backup-simplify]: Simplify lambda2 into lambda2 24.452 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.452 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.453 * [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)) 24.453 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.453 * [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)) 24.453 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in lambda1 24.453 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 24.453 * [taylor]: Taking taylor expansion of 2 in lambda1 24.453 * [backup-simplify]: Simplify 2 into 2 24.453 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 24.453 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 24.453 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 24.453 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 24.453 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.453 * [backup-simplify]: Simplify -0.5 into -0.5 24.453 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 24.453 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 24.453 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.453 * [backup-simplify]: Simplify phi1 into phi1 24.453 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.453 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 24.453 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.453 * [backup-simplify]: Simplify phi2 into phi2 24.453 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.453 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 24.453 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 24.454 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.454 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.454 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.454 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 24.454 * [backup-simplify]: Simplify (- 0) into 0 24.454 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.454 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 24.454 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.454 * [backup-simplify]: Simplify lambda2 into lambda2 24.454 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.454 * [backup-simplify]: Simplify 0 into 0 24.454 * [backup-simplify]: Simplify 1 into 1 24.455 * [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) 24.455 * [backup-simplify]: Simplify (* lambda2 0) into 0 24.455 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 24.455 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 24.455 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in lambda1 24.455 * [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 24.455 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 24.455 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.455 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.455 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.455 * [backup-simplify]: Simplify -0.5 into -0.5 24.455 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.455 * [backup-simplify]: Simplify phi1 into phi1 24.455 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.455 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.455 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.455 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 24.455 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.455 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.456 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.456 * [backup-simplify]: Simplify -0.5 into -0.5 24.456 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.456 * [backup-simplify]: Simplify phi2 into phi2 24.456 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.456 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.456 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.456 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 24.456 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.456 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.456 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.456 * [backup-simplify]: Simplify -0.5 into -0.5 24.456 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.456 * [backup-simplify]: Simplify phi2 into phi2 24.456 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.456 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.456 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.456 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.456 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.456 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.456 * [backup-simplify]: Simplify -0.5 into -0.5 24.456 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.456 * [backup-simplify]: Simplify phi1 into phi1 24.456 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.456 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.456 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.456 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.456 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.456 * [backup-simplify]: Simplify lambda2 into lambda2 24.456 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.456 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.457 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.457 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.457 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.457 * [backup-simplify]: Simplify (- 0) into 0 24.457 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.457 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.457 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.457 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.457 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.457 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.458 * [backup-simplify]: Simplify (- 0) into 0 24.458 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.458 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.458 * [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)))) 24.458 * [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))))) 24.458 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.458 * [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)) 24.458 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in lambda1 24.458 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 24.458 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 24.459 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.459 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.459 * [backup-simplify]: Simplify -0.5 into -0.5 24.459 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.459 * [backup-simplify]: Simplify phi1 into phi1 24.459 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.459 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.459 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.459 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 24.459 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.459 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.459 * [backup-simplify]: Simplify -0.5 into -0.5 24.459 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.459 * [backup-simplify]: Simplify phi2 into phi2 24.459 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.459 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.459 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.459 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 24.459 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.459 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.459 * [backup-simplify]: Simplify -0.5 into -0.5 24.459 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.459 * [backup-simplify]: Simplify phi2 into phi2 24.459 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.459 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.459 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.459 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.459 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.459 * [backup-simplify]: Simplify -0.5 into -0.5 24.459 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.459 * [backup-simplify]: Simplify phi1 into phi1 24.460 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.460 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.460 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.460 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.460 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.460 * [backup-simplify]: Simplify 0 into 0 24.460 * [backup-simplify]: Simplify 1 into 1 24.460 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.460 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.460 * [backup-simplify]: Simplify (- 0) into 0 24.460 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.460 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.460 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.461 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.461 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.461 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.461 * [backup-simplify]: Simplify (- 0) into 0 24.461 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.461 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.461 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.461 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.461 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.461 * [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)))) 24.462 * [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))))) 24.462 * [backup-simplify]: Simplify (* 1 1) into 1 24.462 * [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))))) 24.462 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in lambda1 24.462 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 24.462 * [taylor]: Taking taylor expansion of 2 in lambda1 24.462 * [backup-simplify]: Simplify 2 into 2 24.462 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 24.462 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 24.462 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.462 * [backup-simplify]: Simplify phi2 into phi2 24.462 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.462 * [backup-simplify]: Simplify phi1 into phi1 24.462 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 24.462 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 24.462 * [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 lambda1 2))) in lambda1 24.462 * [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 24.462 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 24.462 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.462 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.462 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.462 * [backup-simplify]: Simplify -0.5 into -0.5 24.462 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.463 * [backup-simplify]: Simplify phi1 into phi1 24.463 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.463 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.463 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.463 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 24.463 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.463 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.463 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.463 * [backup-simplify]: Simplify -0.5 into -0.5 24.463 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.463 * [backup-simplify]: Simplify phi2 into phi2 24.463 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.463 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.463 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.463 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 24.463 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.463 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.463 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.463 * [backup-simplify]: Simplify -0.5 into -0.5 24.463 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.463 * [backup-simplify]: Simplify phi2 into phi2 24.463 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.463 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.463 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.463 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.463 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.463 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.463 * [backup-simplify]: Simplify -0.5 into -0.5 24.463 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.463 * [backup-simplify]: Simplify phi1 into phi1 24.463 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.464 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.464 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.464 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.464 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.464 * [backup-simplify]: Simplify lambda2 into lambda2 24.464 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.464 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.464 * [backup-simplify]: Simplify (- 0) into 0 24.464 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.464 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.464 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.464 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.464 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.465 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.465 * [backup-simplify]: Simplify (- 0) into 0 24.465 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.465 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.465 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.465 * [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)))) 24.465 * [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))))) 24.466 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.466 * [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)) 24.466 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 24.466 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 24.466 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.466 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.466 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.466 * [backup-simplify]: Simplify -0.5 into -0.5 24.466 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.466 * [backup-simplify]: Simplify phi1 into phi1 24.466 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.466 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.466 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.466 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 24.466 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.466 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.466 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.466 * [backup-simplify]: Simplify -0.5 into -0.5 24.466 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.466 * [backup-simplify]: Simplify phi2 into phi2 24.466 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.466 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.466 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.466 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 24.466 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.467 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.467 * [backup-simplify]: Simplify -0.5 into -0.5 24.467 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.467 * [backup-simplify]: Simplify phi2 into phi2 24.467 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.467 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.467 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.467 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.467 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.467 * [backup-simplify]: Simplify -0.5 into -0.5 24.467 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.467 * [backup-simplify]: Simplify phi1 into phi1 24.467 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.467 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.467 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.467 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.467 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.467 * [backup-simplify]: Simplify 0 into 0 24.467 * [backup-simplify]: Simplify 1 into 1 24.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.467 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.467 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.467 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.468 * [backup-simplify]: Simplify (- 0) into 0 24.468 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.468 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.468 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.468 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.468 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.468 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.469 * [backup-simplify]: Simplify (- 0) into 0 24.469 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.469 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.469 * [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)))) 24.469 * [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))))) 24.470 * [backup-simplify]: Simplify (* 1 1) into 1 24.470 * [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))))) 24.470 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 0) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 24.470 * [backup-simplify]: Simplify (+ 0 (* (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)) 24.471 * [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))) 24.471 * [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))) 24.472 * [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))) 24.472 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (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))))) 24.473 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (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))))) 24.474 * [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)))))) 24.474 * [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)))))) 24.475 * [backup-simplify]: Simplify (+ 0 (+ (* (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)))))) 24.476 * [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 (- (+ (* (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))))))) 24.478 * [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))) (- (+ (* (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 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))))))) 24.480 * [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 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 (- (+ (* (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)))))))) 24.481 * [backup-simplify]: Simplify (+ 0) into 0 24.481 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.481 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.482 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.483 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.483 * [backup-simplify]: Simplify (+ 0 0) into 0 24.483 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.484 * [backup-simplify]: Simplify (+ 0) into 0 24.484 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.484 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.486 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.486 * [backup-simplify]: Simplify (+ 0 0) into 0 24.486 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.486 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.487 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.488 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 24.489 * [backup-simplify]: Simplify (+ 0) into 0 24.489 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.489 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.491 * [backup-simplify]: Simplify (- 0) into 0 24.491 * [backup-simplify]: Simplify (+ 0 0) into 0 24.491 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.492 * [backup-simplify]: Simplify (+ 0) into 0 24.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.492 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.493 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.494 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.494 * [backup-simplify]: Simplify (- 0) into 0 24.494 * [backup-simplify]: Simplify (+ 0 0) into 0 24.495 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.495 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.496 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.497 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 24.497 * [backup-simplify]: Simplify (+ 0 0) into 0 24.497 * [backup-simplify]: Simplify (+ 0 0) into 0 24.498 * [backup-simplify]: Simplify (+ 0 0) into 0 24.498 * [backup-simplify]: Simplify (+ 0 0) into 0 24.498 * [backup-simplify]: Simplify (+ 0 0) into 0 24.499 * [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)) 24.499 * [backup-simplify]: Simplify (+ 0) into 0 24.500 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.500 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.501 * [backup-simplify]: Simplify (+ 0 0) into 0 24.502 * [backup-simplify]: Simplify (+ 0) into 0 24.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.502 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.504 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.504 * [backup-simplify]: Simplify (- 0) into 0 24.504 * [backup-simplify]: Simplify (+ 0 0) into 0 24.505 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.505 * [backup-simplify]: Simplify (+ 0) into 0 24.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.506 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.507 * [backup-simplify]: Simplify (+ 0 0) into 0 24.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 24.508 * [backup-simplify]: Simplify (+ 0) into 0 24.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.509 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.510 * [backup-simplify]: Simplify (- 0) into 0 24.511 * [backup-simplify]: Simplify (+ 0 0) into 0 24.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 24.512 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.513 * [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 24.513 * [backup-simplify]: Simplify (+ 0) into 0 24.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.514 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.516 * [backup-simplify]: Simplify (- 0) into 0 24.517 * [backup-simplify]: Simplify (+ 0 0) into 0 24.517 * [backup-simplify]: Simplify (+ 0) into 0 24.517 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.518 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.519 * [backup-simplify]: Simplify (+ 0 0) into 0 24.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.520 * [backup-simplify]: Simplify (+ 0) into 0 24.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.521 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.522 * [backup-simplify]: Simplify (- 0) into 0 24.522 * [backup-simplify]: Simplify (+ 0 0) into 0 24.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 24.523 * [backup-simplify]: Simplify (+ 0) into 0 24.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.525 * [backup-simplify]: Simplify (+ 0 0) into 0 24.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 24.526 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.528 * [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 24.528 * [backup-simplify]: Simplify (+ 0 0) into 0 24.528 * [backup-simplify]: Simplify (+ 0 0) into 0 24.529 * [backup-simplify]: Simplify (+ 0 0) into 0 24.529 * [backup-simplify]: Simplify (+ 0 0) into 0 24.530 * [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)) 24.530 * [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))) 24.531 * [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))) 24.532 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 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 (* -1 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 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))) (+ (* (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))))))))))) 24.533 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in phi1 24.533 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in phi1 24.533 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in phi1 24.533 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 24.533 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 24.533 * [taylor]: Taking taylor expansion of phi2 in phi1 24.533 * [backup-simplify]: Simplify phi2 into phi2 24.533 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 24.533 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 24.533 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi1 24.533 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 24.533 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 24.533 * [taylor]: Taking taylor expansion of phi1 in phi1 24.533 * [backup-simplify]: Simplify 0 into 0 24.533 * [backup-simplify]: Simplify 1 into 1 24.533 * [backup-simplify]: Simplify (* 1 1) into 1 24.534 * [backup-simplify]: Simplify (/ 1 1) into 1 24.534 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi1 24.534 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 24.534 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 24.534 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 24.534 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.534 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.534 * [backup-simplify]: Simplify -0.5 into -0.5 24.534 * [taylor]: Taking taylor expansion of phi2 in phi1 24.534 * [backup-simplify]: Simplify phi2 into phi2 24.534 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.534 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.534 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 24.534 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.534 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.534 * [backup-simplify]: Simplify -0.5 into -0.5 24.534 * [taylor]: Taking taylor expansion of phi1 in phi1 24.534 * [backup-simplify]: Simplify 0 into 0 24.534 * [backup-simplify]: Simplify 1 into 1 24.535 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.535 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.535 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.535 * [backup-simplify]: Simplify lambda1 into lambda1 24.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.535 * [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)) 24.535 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.535 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 24.535 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 24.535 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 24.535 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 24.536 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 24.536 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.536 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.536 * [backup-simplify]: Simplify -0.5 into -0.5 24.536 * [taylor]: Taking taylor expansion of phi2 in phi1 24.536 * [backup-simplify]: Simplify phi2 into phi2 24.536 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.536 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.536 * [backup-simplify]: Simplify (- 0) into 0 24.536 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.536 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 24.536 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.536 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.536 * [backup-simplify]: Simplify -0.5 into -0.5 24.536 * [taylor]: Taking taylor expansion of phi1 in phi1 24.536 * [backup-simplify]: Simplify 0 into 0 24.536 * [backup-simplify]: Simplify 1 into 1 24.537 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.537 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.537 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.537 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.537 * [backup-simplify]: Simplify lambda2 into lambda2 24.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.537 * [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)) 24.537 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.537 * [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)) 24.538 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 24.538 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 24.538 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 24.538 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 24.538 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.538 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.538 * [backup-simplify]: Simplify -0.5 into -0.5 24.538 * [taylor]: Taking taylor expansion of phi2 in phi1 24.538 * [backup-simplify]: Simplify phi2 into phi2 24.538 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.538 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.538 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.538 * [backup-simplify]: Simplify (- 0) into 0 24.538 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.538 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 24.538 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.538 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.538 * [backup-simplify]: Simplify -0.5 into -0.5 24.538 * [taylor]: Taking taylor expansion of phi1 in phi1 24.538 * [backup-simplify]: Simplify 0 into 0 24.538 * [backup-simplify]: Simplify 1 into 1 24.539 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.539 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.539 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.539 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.539 * [backup-simplify]: Simplify lambda1 into lambda1 24.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.539 * [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)) 24.539 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.540 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 24.540 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 24.540 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 24.540 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 24.540 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.540 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.540 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.540 * [backup-simplify]: Simplify -0.5 into -0.5 24.540 * [taylor]: Taking taylor expansion of phi2 in phi1 24.540 * [backup-simplify]: Simplify phi2 into phi2 24.540 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.540 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.540 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.540 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.540 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.540 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 24.540 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.540 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.540 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.540 * [backup-simplify]: Simplify -0.5 into -0.5 24.540 * [taylor]: Taking taylor expansion of phi1 in phi1 24.540 * [backup-simplify]: Simplify 0 into 0 24.540 * [backup-simplify]: Simplify 1 into 1 24.541 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.541 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.541 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.541 * [backup-simplify]: Simplify lambda2 into lambda2 24.541 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.541 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.541 * [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)) 24.541 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.541 * [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)) 24.541 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in phi1 24.542 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 24.542 * [taylor]: Taking taylor expansion of 2 in phi1 24.542 * [backup-simplify]: Simplify 2 into 2 24.542 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 24.542 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 24.542 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 24.542 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 24.542 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.542 * [backup-simplify]: Simplify -0.5 into -0.5 24.542 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 24.542 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 24.542 * [taylor]: Taking taylor expansion of phi1 in phi1 24.542 * [backup-simplify]: Simplify 0 into 0 24.542 * [backup-simplify]: Simplify 1 into 1 24.542 * [backup-simplify]: Simplify (/ 1 1) into 1 24.542 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 24.542 * [taylor]: Taking taylor expansion of phi2 in phi1 24.542 * [backup-simplify]: Simplify phi2 into phi2 24.542 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.542 * [backup-simplify]: Simplify (+ 1 0) into 1 24.543 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 24.543 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.543 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 24.543 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.543 * [backup-simplify]: Simplify lambda2 into lambda2 24.543 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.543 * [backup-simplify]: Simplify lambda1 into lambda1 24.543 * [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) 24.543 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 24.543 * [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)) 24.543 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in phi1 24.544 * [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 24.544 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 24.544 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.544 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.544 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.544 * [backup-simplify]: Simplify -0.5 into -0.5 24.544 * [taylor]: Taking taylor expansion of phi1 in phi1 24.544 * [backup-simplify]: Simplify 0 into 0 24.544 * [backup-simplify]: Simplify 1 into 1 24.544 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.544 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.544 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 24.544 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.544 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.544 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.544 * [backup-simplify]: Simplify -0.5 into -0.5 24.544 * [taylor]: Taking taylor expansion of phi2 in phi1 24.544 * [backup-simplify]: Simplify phi2 into phi2 24.545 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.545 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.545 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 24.545 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.545 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.545 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.545 * [backup-simplify]: Simplify -0.5 into -0.5 24.545 * [taylor]: Taking taylor expansion of phi2 in phi1 24.545 * [backup-simplify]: Simplify phi2 into phi2 24.545 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.545 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.545 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.545 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.545 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.545 * [backup-simplify]: Simplify -0.5 into -0.5 24.545 * [taylor]: Taking taylor expansion of phi1 in phi1 24.545 * [backup-simplify]: Simplify 0 into 0 24.545 * [backup-simplify]: Simplify 1 into 1 24.545 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.545 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.545 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.545 * [backup-simplify]: Simplify lambda2 into lambda2 24.545 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.546 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.546 * [backup-simplify]: Simplify (- 0) into 0 24.546 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.546 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.546 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.546 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.546 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.546 * [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)))) 24.546 * [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))))) 24.547 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.547 * [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)) 24.547 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in phi1 24.547 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi1 24.547 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 24.547 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.547 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.547 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.547 * [backup-simplify]: Simplify -0.5 into -0.5 24.547 * [taylor]: Taking taylor expansion of phi1 in phi1 24.547 * [backup-simplify]: Simplify 0 into 0 24.547 * [backup-simplify]: Simplify 1 into 1 24.551 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.552 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 24.552 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.552 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.552 * [backup-simplify]: Simplify -0.5 into -0.5 24.552 * [taylor]: Taking taylor expansion of phi2 in phi1 24.552 * [backup-simplify]: Simplify phi2 into phi2 24.552 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.552 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 24.552 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.552 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.552 * [backup-simplify]: Simplify -0.5 into -0.5 24.552 * [taylor]: Taking taylor expansion of phi2 in phi1 24.552 * [backup-simplify]: Simplify phi2 into phi2 24.552 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.552 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.552 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.552 * [backup-simplify]: Simplify -0.5 into -0.5 24.552 * [taylor]: Taking taylor expansion of phi1 in phi1 24.552 * [backup-simplify]: Simplify 0 into 0 24.552 * [backup-simplify]: Simplify 1 into 1 24.553 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.553 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.553 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.553 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.553 * [backup-simplify]: Simplify lambda1 into lambda1 24.553 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.553 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.553 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.553 * [backup-simplify]: Simplify (- 0) into 0 24.554 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.554 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.554 * [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)))) 24.554 * [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))))) 24.554 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.554 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) 24.554 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in phi1 24.554 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 24.554 * [taylor]: Taking taylor expansion of 2 in phi1 24.554 * [backup-simplify]: Simplify 2 into 2 24.554 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 24.554 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 24.554 * [taylor]: Taking taylor expansion of phi2 in phi1 24.555 * [backup-simplify]: Simplify phi2 into phi2 24.555 * [taylor]: Taking taylor expansion of phi1 in phi1 24.555 * [backup-simplify]: Simplify 0 into 0 24.555 * [backup-simplify]: Simplify 1 into 1 24.555 * [backup-simplify]: Simplify (* phi2 0) into 0 24.555 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 24.555 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.555 * [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 lambda1 2))) in phi1 24.555 * [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 24.555 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 24.555 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.555 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.555 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.555 * [backup-simplify]: Simplify -0.5 into -0.5 24.555 * [taylor]: Taking taylor expansion of phi1 in phi1 24.555 * [backup-simplify]: Simplify 0 into 0 24.555 * [backup-simplify]: Simplify 1 into 1 24.555 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.555 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.556 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 24.556 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.556 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.556 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.556 * [backup-simplify]: Simplify -0.5 into -0.5 24.556 * [taylor]: Taking taylor expansion of phi2 in phi1 24.556 * [backup-simplify]: Simplify phi2 into phi2 24.556 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.556 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.556 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.556 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 24.556 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.556 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.556 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.556 * [backup-simplify]: Simplify -0.5 into -0.5 24.556 * [taylor]: Taking taylor expansion of phi2 in phi1 24.556 * [backup-simplify]: Simplify phi2 into phi2 24.556 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.556 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.556 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.556 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.556 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.556 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.556 * [backup-simplify]: Simplify -0.5 into -0.5 24.556 * [taylor]: Taking taylor expansion of phi1 in phi1 24.556 * [backup-simplify]: Simplify 0 into 0 24.556 * [backup-simplify]: Simplify 1 into 1 24.557 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.557 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.557 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.557 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.557 * [backup-simplify]: Simplify lambda2 into lambda2 24.557 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.557 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.557 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.557 * [backup-simplify]: Simplify (- 0) into 0 24.557 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.558 * [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)))) 24.558 * [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))))) 24.558 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.558 * [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)) 24.558 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi1 24.558 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 24.558 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.558 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.558 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.558 * [backup-simplify]: Simplify -0.5 into -0.5 24.558 * [taylor]: Taking taylor expansion of phi1 in phi1 24.558 * [backup-simplify]: Simplify 0 into 0 24.558 * [backup-simplify]: Simplify 1 into 1 24.559 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.559 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.559 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 24.559 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.559 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.559 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.559 * [backup-simplify]: Simplify -0.5 into -0.5 24.559 * [taylor]: Taking taylor expansion of phi2 in phi1 24.559 * [backup-simplify]: Simplify phi2 into phi2 24.559 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.559 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.559 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.559 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 24.559 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.559 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.559 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.559 * [backup-simplify]: Simplify -0.5 into -0.5 24.559 * [taylor]: Taking taylor expansion of phi2 in phi1 24.559 * [backup-simplify]: Simplify phi2 into phi2 24.559 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.559 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.559 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.559 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.559 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.559 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.559 * [backup-simplify]: Simplify -0.5 into -0.5 24.559 * [taylor]: Taking taylor expansion of phi1 in phi1 24.559 * [backup-simplify]: Simplify 0 into 0 24.559 * [backup-simplify]: Simplify 1 into 1 24.560 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.560 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.560 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.560 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.560 * [backup-simplify]: Simplify lambda1 into lambda1 24.560 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.560 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.560 * [backup-simplify]: Simplify (- 0) into 0 24.561 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.561 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.561 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.561 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.561 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.561 * [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)))) 24.562 * [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))))) 24.562 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.562 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 24.563 * [backup-simplify]: Simplify (+ 1 0) into 1 24.563 * [backup-simplify]: Simplify (+ 0 1) into 1 24.564 * [backup-simplify]: Simplify (+ 1 0) into 1 24.564 * [backup-simplify]: Simplify (sqrt 1) into 1 24.565 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.565 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 24.566 * [backup-simplify]: Simplify (+ 0 0) into 0 24.566 * [backup-simplify]: Simplify (+ 0 0) into 0 24.566 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 24.566 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 24.566 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 24.567 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 24.567 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 24.567 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 24.567 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 24.568 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 24.568 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in phi2 24.568 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in phi2 24.568 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in phi2 24.568 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 24.568 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 24.568 * [taylor]: Taking taylor expansion of phi2 in phi2 24.568 * [backup-simplify]: Simplify 0 into 0 24.568 * [backup-simplify]: Simplify 1 into 1 24.568 * [backup-simplify]: Simplify (* 1 1) into 1 24.569 * [backup-simplify]: Simplify (/ 1 1) into 1 24.569 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi2 24.569 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 24.569 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 24.569 * [taylor]: Taking taylor expansion of phi1 in phi2 24.569 * [backup-simplify]: Simplify phi1 into phi1 24.569 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 24.569 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 24.569 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi2 24.569 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 24.569 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 24.569 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 24.569 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 24.569 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.570 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.570 * [backup-simplify]: Simplify -0.5 into -0.5 24.570 * [taylor]: Taking taylor expansion of phi2 in phi2 24.570 * [backup-simplify]: Simplify 0 into 0 24.570 * [backup-simplify]: Simplify 1 into 1 24.570 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.570 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.570 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 24.570 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 24.570 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.570 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.570 * [backup-simplify]: Simplify -0.5 into -0.5 24.570 * [taylor]: Taking taylor expansion of phi1 in phi2 24.570 * [backup-simplify]: Simplify phi1 into phi1 24.571 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.571 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.571 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.571 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.571 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.571 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.571 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 24.571 * [taylor]: Taking taylor expansion of lambda1 in phi2 24.571 * [backup-simplify]: Simplify lambda1 into lambda1 24.571 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.572 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.572 * [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)) 24.572 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.572 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 24.572 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2 24.573 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 24.573 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 24.573 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 24.573 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 24.573 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.573 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.573 * [backup-simplify]: Simplify -0.5 into -0.5 24.573 * [taylor]: Taking taylor expansion of phi2 in phi2 24.573 * [backup-simplify]: Simplify 0 into 0 24.573 * [backup-simplify]: Simplify 1 into 1 24.573 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.573 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.573 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 24.573 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 24.574 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.574 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.574 * [backup-simplify]: Simplify -0.5 into -0.5 24.574 * [taylor]: Taking taylor expansion of phi1 in phi2 24.574 * [backup-simplify]: Simplify phi1 into phi1 24.574 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.574 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.574 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.574 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.574 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.575 * [backup-simplify]: Simplify (- 0) into 0 24.575 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.575 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 24.575 * [taylor]: Taking taylor expansion of lambda2 in phi2 24.575 * [backup-simplify]: Simplify lambda2 into lambda2 24.575 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.575 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.576 * [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)) 24.576 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.576 * [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)) 24.576 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2 24.576 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 24.576 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 24.576 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 24.576 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 24.576 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.577 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.577 * [backup-simplify]: Simplify -0.5 into -0.5 24.577 * [taylor]: Taking taylor expansion of phi2 in phi2 24.577 * [backup-simplify]: Simplify 0 into 0 24.577 * [backup-simplify]: Simplify 1 into 1 24.577 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.577 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.577 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 24.577 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 24.577 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.577 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.577 * [backup-simplify]: Simplify -0.5 into -0.5 24.577 * [taylor]: Taking taylor expansion of phi1 in phi2 24.577 * [backup-simplify]: Simplify phi1 into phi1 24.578 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.578 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.578 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.578 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.578 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.578 * [backup-simplify]: Simplify (- 0) into 0 24.578 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.578 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 24.579 * [taylor]: Taking taylor expansion of lambda1 in phi2 24.579 * [backup-simplify]: Simplify lambda1 into lambda1 24.579 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.579 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.579 * [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)) 24.579 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.580 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 24.580 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 24.580 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 24.580 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 24.580 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 24.580 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.580 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.580 * [backup-simplify]: Simplify -0.5 into -0.5 24.580 * [taylor]: Taking taylor expansion of phi2 in phi2 24.580 * [backup-simplify]: Simplify 0 into 0 24.580 * [backup-simplify]: Simplify 1 into 1 24.581 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.581 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.581 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 24.581 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 24.581 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.581 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.581 * [backup-simplify]: Simplify -0.5 into -0.5 24.581 * [taylor]: Taking taylor expansion of phi1 in phi2 24.581 * [backup-simplify]: Simplify phi1 into phi1 24.581 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.581 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.581 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.581 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.581 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.582 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.582 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 24.582 * [taylor]: Taking taylor expansion of lambda2 in phi2 24.582 * [backup-simplify]: Simplify lambda2 into lambda2 24.582 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.582 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.582 * [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)) 24.582 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.583 * [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)) 24.583 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in phi2 24.583 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 24.583 * [taylor]: Taking taylor expansion of 2 in phi2 24.583 * [backup-simplify]: Simplify 2 into 2 24.583 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 24.583 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 24.583 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 24.583 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 24.583 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.583 * [backup-simplify]: Simplify -0.5 into -0.5 24.583 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 24.583 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 24.583 * [taylor]: Taking taylor expansion of phi1 in phi2 24.583 * [backup-simplify]: Simplify phi1 into phi1 24.583 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.583 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 24.583 * [taylor]: Taking taylor expansion of phi2 in phi2 24.583 * [backup-simplify]: Simplify 0 into 0 24.584 * [backup-simplify]: Simplify 1 into 1 24.584 * [backup-simplify]: Simplify (/ 1 1) into 1 24.584 * [backup-simplify]: Simplify (+ 0 1) into 1 24.585 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 24.585 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.585 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 24.585 * [taylor]: Taking taylor expansion of lambda2 in phi2 24.585 * [backup-simplify]: Simplify lambda2 into lambda2 24.585 * [taylor]: Taking taylor expansion of lambda1 in phi2 24.585 * [backup-simplify]: Simplify lambda1 into lambda1 24.586 * [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) 24.586 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 24.586 * [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)) 24.586 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in phi2 24.586 * [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 24.586 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 24.586 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 24.586 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.586 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.586 * [backup-simplify]: Simplify -0.5 into -0.5 24.586 * [taylor]: Taking taylor expansion of phi1 in phi2 24.586 * [backup-simplify]: Simplify phi1 into phi1 24.586 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.586 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.587 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.587 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 24.587 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 24.587 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.587 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.587 * [backup-simplify]: Simplify -0.5 into -0.5 24.587 * [taylor]: Taking taylor expansion of phi2 in phi2 24.587 * [backup-simplify]: Simplify 0 into 0 24.587 * [backup-simplify]: Simplify 1 into 1 24.587 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.587 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.587 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 24.588 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 24.588 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.588 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.588 * [backup-simplify]: Simplify -0.5 into -0.5 24.588 * [taylor]: Taking taylor expansion of phi2 in phi2 24.588 * [backup-simplify]: Simplify 0 into 0 24.588 * [backup-simplify]: Simplify 1 into 1 24.588 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.588 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.588 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 24.588 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.588 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.588 * [backup-simplify]: Simplify -0.5 into -0.5 24.588 * [taylor]: Taking taylor expansion of phi1 in phi2 24.588 * [backup-simplify]: Simplify phi1 into phi1 24.588 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.589 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.589 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.589 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 24.589 * [taylor]: Taking taylor expansion of lambda2 in phi2 24.589 * [backup-simplify]: Simplify lambda2 into lambda2 24.589 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.589 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.589 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.589 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.589 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.590 * [backup-simplify]: Simplify (- 0) into 0 24.590 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.590 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.590 * [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)))) 24.590 * [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))))) 24.591 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.591 * [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)) 24.591 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in phi2 24.591 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi2 24.591 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 24.591 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 24.591 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.591 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.591 * [backup-simplify]: Simplify -0.5 into -0.5 24.591 * [taylor]: Taking taylor expansion of phi1 in phi2 24.591 * [backup-simplify]: Simplify phi1 into phi1 24.591 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.592 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.592 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.592 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 24.592 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 24.592 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.592 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.592 * [backup-simplify]: Simplify -0.5 into -0.5 24.592 * [taylor]: Taking taylor expansion of phi2 in phi2 24.592 * [backup-simplify]: Simplify 0 into 0 24.592 * [backup-simplify]: Simplify 1 into 1 24.592 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.592 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.593 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 24.593 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 24.593 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.593 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.593 * [backup-simplify]: Simplify -0.5 into -0.5 24.593 * [taylor]: Taking taylor expansion of phi2 in phi2 24.593 * [backup-simplify]: Simplify 0 into 0 24.593 * [backup-simplify]: Simplify 1 into 1 24.593 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.593 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.593 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 24.593 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.593 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.593 * [backup-simplify]: Simplify -0.5 into -0.5 24.593 * [taylor]: Taking taylor expansion of phi1 in phi2 24.593 * [backup-simplify]: Simplify phi1 into phi1 24.593 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.594 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.594 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.594 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 24.594 * [taylor]: Taking taylor expansion of lambda1 in phi2 24.594 * [backup-simplify]: Simplify lambda1 into lambda1 24.594 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.594 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.594 * [backup-simplify]: Simplify (- 0) into 0 24.594 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.595 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.595 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.595 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.595 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.595 * [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)))) 24.595 * [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))))) 24.596 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.596 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) 24.596 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in phi2 24.596 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 24.596 * [taylor]: Taking taylor expansion of 2 in phi2 24.596 * [backup-simplify]: Simplify 2 into 2 24.596 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 24.596 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 24.596 * [taylor]: Taking taylor expansion of phi2 in phi2 24.596 * [backup-simplify]: Simplify 0 into 0 24.596 * [backup-simplify]: Simplify 1 into 1 24.596 * [taylor]: Taking taylor expansion of phi1 in phi2 24.596 * [backup-simplify]: Simplify phi1 into phi1 24.596 * [backup-simplify]: Simplify (* 0 phi1) into 0 24.597 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 24.597 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.597 * [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 lambda1 2))) in phi2 24.597 * [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 24.597 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 24.597 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 24.597 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.597 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.597 * [backup-simplify]: Simplify -0.5 into -0.5 24.597 * [taylor]: Taking taylor expansion of phi1 in phi2 24.597 * [backup-simplify]: Simplify phi1 into phi1 24.597 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.597 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.597 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.598 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 24.598 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 24.598 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.598 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.598 * [backup-simplify]: Simplify -0.5 into -0.5 24.598 * [taylor]: Taking taylor expansion of phi2 in phi2 24.598 * [backup-simplify]: Simplify 0 into 0 24.598 * [backup-simplify]: Simplify 1 into 1 24.598 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.598 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.598 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 24.598 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 24.598 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.598 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.598 * [backup-simplify]: Simplify -0.5 into -0.5 24.598 * [taylor]: Taking taylor expansion of phi2 in phi2 24.598 * [backup-simplify]: Simplify 0 into 0 24.598 * [backup-simplify]: Simplify 1 into 1 24.599 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.599 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.599 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 24.599 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.599 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.599 * [backup-simplify]: Simplify -0.5 into -0.5 24.599 * [taylor]: Taking taylor expansion of phi1 in phi2 24.599 * [backup-simplify]: Simplify phi1 into phi1 24.599 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.599 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.599 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.599 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 24.599 * [taylor]: Taking taylor expansion of lambda2 in phi2 24.600 * [backup-simplify]: Simplify lambda2 into lambda2 24.600 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.600 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.600 * [backup-simplify]: Simplify (- 0) into 0 24.600 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.600 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.600 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.601 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.601 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.601 * [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)))) 24.601 * [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))))) 24.601 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.602 * [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)) 24.602 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi2 24.602 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 24.602 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 24.602 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.602 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.602 * [backup-simplify]: Simplify -0.5 into -0.5 24.602 * [taylor]: Taking taylor expansion of phi1 in phi2 24.602 * [backup-simplify]: Simplify phi1 into phi1 24.602 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.602 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.602 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.602 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 24.602 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 24.602 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.602 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.603 * [backup-simplify]: Simplify -0.5 into -0.5 24.603 * [taylor]: Taking taylor expansion of phi2 in phi2 24.603 * [backup-simplify]: Simplify 0 into 0 24.603 * [backup-simplify]: Simplify 1 into 1 24.603 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.603 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.603 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 24.603 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 24.603 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.603 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.603 * [backup-simplify]: Simplify -0.5 into -0.5 24.603 * [taylor]: Taking taylor expansion of phi2 in phi2 24.603 * [backup-simplify]: Simplify 0 into 0 24.603 * [backup-simplify]: Simplify 1 into 1 24.604 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.604 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.604 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 24.604 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.604 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.604 * [backup-simplify]: Simplify -0.5 into -0.5 24.604 * [taylor]: Taking taylor expansion of phi1 in phi2 24.604 * [backup-simplify]: Simplify phi1 into phi1 24.604 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.604 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.604 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.604 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 24.605 * [taylor]: Taking taylor expansion of lambda1 in phi2 24.605 * [backup-simplify]: Simplify lambda1 into lambda1 24.605 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.605 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.605 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.605 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.605 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.605 * [backup-simplify]: Simplify (- 0) into 0 24.606 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.606 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.606 * [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)))) 24.606 * [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))))) 24.606 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.607 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 24.607 * [backup-simplify]: Simplify (+ 1 0) into 1 24.608 * [backup-simplify]: Simplify (+ 1 0) into 1 24.608 * [backup-simplify]: Simplify (sqrt 1) into 1 24.609 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.610 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 24.610 * [backup-simplify]: Simplify (+ 0 0) into 0 24.610 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 24.610 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 24.610 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 24.611 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 24.611 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 24.611 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 24.611 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 24.612 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 24.612 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in phi2 24.612 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in phi2 24.612 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in phi2 24.612 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 24.612 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 24.612 * [taylor]: Taking taylor expansion of phi2 in phi2 24.612 * [backup-simplify]: Simplify 0 into 0 24.612 * [backup-simplify]: Simplify 1 into 1 24.613 * [backup-simplify]: Simplify (* 1 1) into 1 24.613 * [backup-simplify]: Simplify (/ 1 1) into 1 24.613 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi2 24.613 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 24.613 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 24.613 * [taylor]: Taking taylor expansion of phi1 in phi2 24.613 * [backup-simplify]: Simplify phi1 into phi1 24.613 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 24.614 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 24.614 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi2 24.614 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 24.614 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 24.614 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 24.614 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 24.614 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.614 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.614 * [backup-simplify]: Simplify -0.5 into -0.5 24.614 * [taylor]: Taking taylor expansion of phi2 in phi2 24.614 * [backup-simplify]: Simplify 0 into 0 24.614 * [backup-simplify]: Simplify 1 into 1 24.615 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.615 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.615 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 24.615 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 24.615 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.615 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.615 * [backup-simplify]: Simplify -0.5 into -0.5 24.615 * [taylor]: Taking taylor expansion of phi1 in phi2 24.615 * [backup-simplify]: Simplify phi1 into phi1 24.615 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.615 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.615 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.615 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.615 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.616 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.616 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 24.616 * [taylor]: Taking taylor expansion of lambda1 in phi2 24.616 * [backup-simplify]: Simplify lambda1 into lambda1 24.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.616 * [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)) 24.616 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.617 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 24.617 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2 24.617 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 24.617 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 24.617 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 24.617 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 24.617 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.617 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.617 * [backup-simplify]: Simplify -0.5 into -0.5 24.617 * [taylor]: Taking taylor expansion of phi2 in phi2 24.617 * [backup-simplify]: Simplify 0 into 0 24.617 * [backup-simplify]: Simplify 1 into 1 24.618 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.618 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.618 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 24.618 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 24.618 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.618 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.618 * [backup-simplify]: Simplify -0.5 into -0.5 24.618 * [taylor]: Taking taylor expansion of phi1 in phi2 24.618 * [backup-simplify]: Simplify phi1 into phi1 24.618 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.618 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.618 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.619 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.619 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.619 * [backup-simplify]: Simplify (- 0) into 0 24.619 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.619 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 24.619 * [taylor]: Taking taylor expansion of lambda2 in phi2 24.619 * [backup-simplify]: Simplify lambda2 into lambda2 24.619 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.620 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.620 * [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)) 24.620 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.620 * [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)) 24.620 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2 24.620 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 24.620 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 24.620 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 24.620 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 24.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.620 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.620 * [backup-simplify]: Simplify -0.5 into -0.5 24.620 * [taylor]: Taking taylor expansion of phi2 in phi2 24.620 * [backup-simplify]: Simplify 0 into 0 24.620 * [backup-simplify]: Simplify 1 into 1 24.621 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.621 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.621 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 24.621 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 24.621 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.621 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.621 * [backup-simplify]: Simplify -0.5 into -0.5 24.621 * [taylor]: Taking taylor expansion of phi1 in phi2 24.621 * [backup-simplify]: Simplify phi1 into phi1 24.621 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.621 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.621 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.621 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.621 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.621 * [backup-simplify]: Simplify (- 0) into 0 24.621 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.621 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 24.621 * [taylor]: Taking taylor expansion of lambda1 in phi2 24.621 * [backup-simplify]: Simplify lambda1 into lambda1 24.622 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.622 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.622 * [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)) 24.622 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.622 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 24.622 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 24.622 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 24.622 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 24.622 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 24.622 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.622 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.622 * [backup-simplify]: Simplify -0.5 into -0.5 24.622 * [taylor]: Taking taylor expansion of phi2 in phi2 24.622 * [backup-simplify]: Simplify 0 into 0 24.622 * [backup-simplify]: Simplify 1 into 1 24.623 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.623 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.623 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 24.623 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 24.623 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.623 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.623 * [backup-simplify]: Simplify -0.5 into -0.5 24.623 * [taylor]: Taking taylor expansion of phi1 in phi2 24.623 * [backup-simplify]: Simplify phi1 into phi1 24.623 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.623 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.623 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.623 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.623 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.623 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.623 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 24.623 * [taylor]: Taking taylor expansion of lambda2 in phi2 24.623 * [backup-simplify]: Simplify lambda2 into lambda2 24.623 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.623 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.624 * [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)) 24.624 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.624 * [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)) 24.624 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in phi2 24.624 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 24.624 * [taylor]: Taking taylor expansion of 2 in phi2 24.624 * [backup-simplify]: Simplify 2 into 2 24.624 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 24.624 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 24.624 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 24.624 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 24.624 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.624 * [backup-simplify]: Simplify -0.5 into -0.5 24.624 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 24.624 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 24.624 * [taylor]: Taking taylor expansion of phi1 in phi2 24.624 * [backup-simplify]: Simplify phi1 into phi1 24.624 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.624 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 24.624 * [taylor]: Taking taylor expansion of phi2 in phi2 24.624 * [backup-simplify]: Simplify 0 into 0 24.624 * [backup-simplify]: Simplify 1 into 1 24.625 * [backup-simplify]: Simplify (/ 1 1) into 1 24.625 * [backup-simplify]: Simplify (+ 0 1) into 1 24.625 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 24.625 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.625 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 24.625 * [taylor]: Taking taylor expansion of lambda2 in phi2 24.625 * [backup-simplify]: Simplify lambda2 into lambda2 24.625 * [taylor]: Taking taylor expansion of lambda1 in phi2 24.625 * [backup-simplify]: Simplify lambda1 into lambda1 24.626 * [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) 24.626 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 24.626 * [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)) 24.626 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in phi2 24.626 * [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 24.626 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 24.626 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 24.626 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.626 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.626 * [backup-simplify]: Simplify -0.5 into -0.5 24.626 * [taylor]: Taking taylor expansion of phi1 in phi2 24.626 * [backup-simplify]: Simplify phi1 into phi1 24.626 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.626 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.626 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.626 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 24.626 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 24.626 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.626 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.626 * [backup-simplify]: Simplify -0.5 into -0.5 24.626 * [taylor]: Taking taylor expansion of phi2 in phi2 24.626 * [backup-simplify]: Simplify 0 into 0 24.626 * [backup-simplify]: Simplify 1 into 1 24.627 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.627 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.627 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 24.627 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 24.627 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.627 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.627 * [backup-simplify]: Simplify -0.5 into -0.5 24.627 * [taylor]: Taking taylor expansion of phi2 in phi2 24.627 * [backup-simplify]: Simplify 0 into 0 24.627 * [backup-simplify]: Simplify 1 into 1 24.627 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.627 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.627 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 24.627 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.627 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.627 * [backup-simplify]: Simplify -0.5 into -0.5 24.627 * [taylor]: Taking taylor expansion of phi1 in phi2 24.627 * [backup-simplify]: Simplify phi1 into phi1 24.627 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.627 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.627 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.627 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 24.627 * [taylor]: Taking taylor expansion of lambda2 in phi2 24.627 * [backup-simplify]: Simplify lambda2 into lambda2 24.628 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.628 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.628 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.628 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.628 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.628 * [backup-simplify]: Simplify (- 0) into 0 24.628 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.628 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.628 * [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)))) 24.629 * [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))))) 24.629 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.629 * [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)) 24.629 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in phi2 24.629 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi2 24.629 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 24.629 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 24.629 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.629 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.629 * [backup-simplify]: Simplify -0.5 into -0.5 24.629 * [taylor]: Taking taylor expansion of phi1 in phi2 24.629 * [backup-simplify]: Simplify phi1 into phi1 24.629 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.629 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.629 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.629 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 24.629 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 24.629 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.629 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.629 * [backup-simplify]: Simplify -0.5 into -0.5 24.629 * [taylor]: Taking taylor expansion of phi2 in phi2 24.629 * [backup-simplify]: Simplify 0 into 0 24.629 * [backup-simplify]: Simplify 1 into 1 24.630 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.630 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.630 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 24.630 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 24.630 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.630 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.630 * [backup-simplify]: Simplify -0.5 into -0.5 24.630 * [taylor]: Taking taylor expansion of phi2 in phi2 24.630 * [backup-simplify]: Simplify 0 into 0 24.630 * [backup-simplify]: Simplify 1 into 1 24.630 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.630 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.630 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 24.630 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.630 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.630 * [backup-simplify]: Simplify -0.5 into -0.5 24.630 * [taylor]: Taking taylor expansion of phi1 in phi2 24.630 * [backup-simplify]: Simplify phi1 into phi1 24.630 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.630 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.631 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.631 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 24.631 * [taylor]: Taking taylor expansion of lambda1 in phi2 24.631 * [backup-simplify]: Simplify lambda1 into lambda1 24.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.631 * [backup-simplify]: Simplify (- 0) into 0 24.631 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.631 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.631 * [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)))) 24.632 * [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))))) 24.632 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.632 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) 24.632 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in phi2 24.632 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 24.632 * [taylor]: Taking taylor expansion of 2 in phi2 24.632 * [backup-simplify]: Simplify 2 into 2 24.632 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 24.632 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 24.632 * [taylor]: Taking taylor expansion of phi2 in phi2 24.632 * [backup-simplify]: Simplify 0 into 0 24.632 * [backup-simplify]: Simplify 1 into 1 24.632 * [taylor]: Taking taylor expansion of phi1 in phi2 24.632 * [backup-simplify]: Simplify phi1 into phi1 24.632 * [backup-simplify]: Simplify (* 0 phi1) into 0 24.633 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 24.633 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.633 * [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 lambda1 2))) in phi2 24.633 * [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 24.633 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 24.633 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 24.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.633 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.633 * [backup-simplify]: Simplify -0.5 into -0.5 24.633 * [taylor]: Taking taylor expansion of phi1 in phi2 24.633 * [backup-simplify]: Simplify phi1 into phi1 24.633 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.633 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.633 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.633 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 24.633 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 24.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.633 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.633 * [backup-simplify]: Simplify -0.5 into -0.5 24.633 * [taylor]: Taking taylor expansion of phi2 in phi2 24.633 * [backup-simplify]: Simplify 0 into 0 24.633 * [backup-simplify]: Simplify 1 into 1 24.633 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.633 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.633 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 24.633 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 24.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.634 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.634 * [backup-simplify]: Simplify -0.5 into -0.5 24.634 * [taylor]: Taking taylor expansion of phi2 in phi2 24.634 * [backup-simplify]: Simplify 0 into 0 24.634 * [backup-simplify]: Simplify 1 into 1 24.634 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.634 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.634 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 24.634 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.634 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.634 * [backup-simplify]: Simplify -0.5 into -0.5 24.634 * [taylor]: Taking taylor expansion of phi1 in phi2 24.634 * [backup-simplify]: Simplify phi1 into phi1 24.634 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.634 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.634 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.634 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 24.634 * [taylor]: Taking taylor expansion of lambda2 in phi2 24.634 * [backup-simplify]: Simplify lambda2 into lambda2 24.634 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.634 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.635 * [backup-simplify]: Simplify (- 0) into 0 24.635 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.635 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.635 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.635 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.635 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.635 * [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)))) 24.635 * [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))))) 24.636 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.636 * [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)) 24.636 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi2 24.636 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 24.636 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 24.636 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.636 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.636 * [backup-simplify]: Simplify -0.5 into -0.5 24.636 * [taylor]: Taking taylor expansion of phi1 in phi2 24.636 * [backup-simplify]: Simplify phi1 into phi1 24.636 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.636 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.636 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.636 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 24.636 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 24.636 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.636 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.636 * [backup-simplify]: Simplify -0.5 into -0.5 24.636 * [taylor]: Taking taylor expansion of phi2 in phi2 24.636 * [backup-simplify]: Simplify 0 into 0 24.636 * [backup-simplify]: Simplify 1 into 1 24.637 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.637 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.637 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 24.637 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 24.637 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 24.637 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.637 * [backup-simplify]: Simplify -0.5 into -0.5 24.637 * [taylor]: Taking taylor expansion of phi2 in phi2 24.637 * [backup-simplify]: Simplify 0 into 0 24.637 * [backup-simplify]: Simplify 1 into 1 24.637 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.637 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.637 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 24.637 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 24.637 * [taylor]: Taking taylor expansion of -0.5 in phi2 24.637 * [backup-simplify]: Simplify -0.5 into -0.5 24.637 * [taylor]: Taking taylor expansion of phi1 in phi2 24.637 * [backup-simplify]: Simplify phi1 into phi1 24.637 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.637 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.637 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.637 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 24.637 * [taylor]: Taking taylor expansion of lambda1 in phi2 24.637 * [backup-simplify]: Simplify lambda1 into lambda1 24.638 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.638 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.638 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.638 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.638 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.638 * [backup-simplify]: Simplify (- 0) into 0 24.638 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.638 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.638 * [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)))) 24.639 * [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))))) 24.639 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.639 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 24.639 * [backup-simplify]: Simplify (+ 1 0) into 1 24.639 * [backup-simplify]: Simplify (+ 1 0) into 1 24.640 * [backup-simplify]: Simplify (sqrt 1) into 1 24.640 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.640 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 24.641 * [backup-simplify]: Simplify (+ 0 0) into 0 24.641 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 24.641 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 24.641 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 24.641 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 24.641 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 24.641 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 24.641 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 24.642 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 24.642 * [taylor]: Taking taylor expansion of 1 in phi1 24.642 * [backup-simplify]: Simplify 1 into 1 24.642 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 24.642 * [taylor]: Taking taylor expansion of -1 in phi1 24.642 * [backup-simplify]: Simplify -1 into -1 24.642 * [taylor]: Taking taylor expansion of phi1 in phi1 24.642 * [backup-simplify]: Simplify 0 into 0 24.642 * [backup-simplify]: Simplify 1 into 1 24.642 * [backup-simplify]: Simplify (/ -1 1) into -1 24.642 * [taylor]: Taking taylor expansion of -1 in lambda1 24.642 * [backup-simplify]: Simplify -1 into -1 24.642 * [taylor]: Taking taylor expansion of 1 in lambda1 24.642 * [backup-simplify]: Simplify 1 into 1 24.643 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 24.643 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 24.644 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) 24.645 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 24.646 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) 24.648 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) 24.652 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) 24.653 * [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))) 24.654 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 24.654 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 24.654 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 24.656 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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 lambda1 2))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) 24.657 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) 24.659 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))) 24.662 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (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)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2))))) 24.666 * [backup-simplify]: Simplify (+ (* 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)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)))))) into (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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)))))) 24.669 * [backup-simplify]: Simplify (- (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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))))))) into (- (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2))))))) 24.673 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))))))) 24.678 * [backup-simplify]: Simplify (/ (- (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))))))) (pow (/ -1 phi1) 2) (+)) (* 2 1)) into (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) 24.678 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) in phi1 24.678 * [taylor]: Taking taylor expansion of 1/2 in phi1 24.679 * [backup-simplify]: Simplify 1/2 into 1/2 24.679 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in phi1 24.679 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi1 24.679 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 24.679 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 24.679 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 24.679 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.679 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.679 * [backup-simplify]: Simplify -0.5 into -0.5 24.679 * [taylor]: Taking taylor expansion of phi2 in phi1 24.679 * [backup-simplify]: Simplify phi2 into phi2 24.679 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.679 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.679 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.679 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.679 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.679 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.679 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 24.679 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.679 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.679 * [backup-simplify]: Simplify -0.5 into -0.5 24.679 * [taylor]: Taking taylor expansion of phi1 in phi1 24.679 * [backup-simplify]: Simplify 0 into 0 24.679 * [backup-simplify]: Simplify 1 into 1 24.680 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.680 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.680 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.680 * [backup-simplify]: Simplify lambda1 into lambda1 24.680 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.680 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.680 * [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)) 24.680 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.680 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 24.680 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 24.680 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 24.681 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 24.681 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 24.681 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.681 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.681 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.681 * [backup-simplify]: Simplify -0.5 into -0.5 24.681 * [taylor]: Taking taylor expansion of phi2 in phi1 24.681 * [backup-simplify]: Simplify phi2 into phi2 24.681 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.681 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.681 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.681 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.681 * [backup-simplify]: Simplify (- 0) into 0 24.681 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.681 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 24.681 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.681 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.681 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.681 * [backup-simplify]: Simplify -0.5 into -0.5 24.681 * [taylor]: Taking taylor expansion of phi1 in phi1 24.681 * [backup-simplify]: Simplify 0 into 0 24.681 * [backup-simplify]: Simplify 1 into 1 24.682 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.682 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.682 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.682 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.682 * [backup-simplify]: Simplify lambda2 into lambda2 24.682 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.682 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.682 * [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)) 24.682 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.683 * [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)) 24.683 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 24.683 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 24.683 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 24.683 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 24.683 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.683 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.683 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.683 * [backup-simplify]: Simplify -0.5 into -0.5 24.683 * [taylor]: Taking taylor expansion of phi2 in phi1 24.683 * [backup-simplify]: Simplify phi2 into phi2 24.683 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.683 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.683 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.683 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.683 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.683 * [backup-simplify]: Simplify (- 0) into 0 24.683 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.683 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 24.683 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.683 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.683 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.683 * [backup-simplify]: Simplify -0.5 into -0.5 24.683 * [taylor]: Taking taylor expansion of phi1 in phi1 24.684 * [backup-simplify]: Simplify 0 into 0 24.684 * [backup-simplify]: Simplify 1 into 1 24.684 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.684 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.684 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.684 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.684 * [backup-simplify]: Simplify lambda1 into lambda1 24.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.684 * [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)) 24.684 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.685 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 24.685 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 24.685 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 24.685 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 24.685 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.685 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.685 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.685 * [backup-simplify]: Simplify -0.5 into -0.5 24.685 * [taylor]: Taking taylor expansion of phi2 in phi1 24.685 * [backup-simplify]: Simplify phi2 into phi2 24.685 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.685 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.685 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.685 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.685 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.685 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.685 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 24.685 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.685 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.685 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.685 * [backup-simplify]: Simplify -0.5 into -0.5 24.685 * [taylor]: Taking taylor expansion of phi1 in phi1 24.685 * [backup-simplify]: Simplify 0 into 0 24.686 * [backup-simplify]: Simplify 1 into 1 24.686 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.686 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.686 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.686 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.686 * [backup-simplify]: Simplify lambda2 into lambda2 24.686 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.686 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.686 * [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)) 24.686 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.687 * [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)) 24.687 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi1 24.687 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in phi1 24.687 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 24.687 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.687 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.687 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.687 * [backup-simplify]: Simplify -0.5 into -0.5 24.687 * [taylor]: Taking taylor expansion of phi2 in phi1 24.687 * [backup-simplify]: Simplify phi2 into phi2 24.687 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.687 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.687 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.687 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 24.687 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.687 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.687 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.687 * [backup-simplify]: Simplify -0.5 into -0.5 24.687 * [taylor]: Taking taylor expansion of phi1 in phi1 24.687 * [backup-simplify]: Simplify 0 into 0 24.687 * [backup-simplify]: Simplify 1 into 1 24.687 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.688 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.688 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 24.688 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.688 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.688 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.688 * [backup-simplify]: Simplify -0.5 into -0.5 24.688 * [taylor]: Taking taylor expansion of phi1 in phi1 24.688 * [backup-simplify]: Simplify 0 into 0 24.688 * [backup-simplify]: Simplify 1 into 1 24.688 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.688 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.688 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.688 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.688 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.688 * [backup-simplify]: Simplify -0.5 into -0.5 24.688 * [taylor]: Taking taylor expansion of phi2 in phi1 24.688 * [backup-simplify]: Simplify phi2 into phi2 24.688 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.688 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.688 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.688 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.688 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.688 * [backup-simplify]: Simplify lambda1 into lambda1 24.688 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.688 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.689 * [backup-simplify]: Simplify (- 0) into 0 24.689 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.689 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.689 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.689 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.689 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 24.689 * [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)))) 24.689 * [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))))) 24.689 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.690 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) 24.690 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1 24.690 * [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 24.690 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 24.690 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.690 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.690 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.690 * [backup-simplify]: Simplify -0.5 into -0.5 24.690 * [taylor]: Taking taylor expansion of phi2 in phi1 24.690 * [backup-simplify]: Simplify phi2 into phi2 24.690 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.690 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.690 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.690 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 24.690 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.690 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.690 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.690 * [backup-simplify]: Simplify -0.5 into -0.5 24.690 * [taylor]: Taking taylor expansion of phi1 in phi1 24.690 * [backup-simplify]: Simplify 0 into 0 24.690 * [backup-simplify]: Simplify 1 into 1 24.691 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.691 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.691 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 24.691 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.691 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.691 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.691 * [backup-simplify]: Simplify -0.5 into -0.5 24.691 * [taylor]: Taking taylor expansion of phi2 in phi1 24.691 * [backup-simplify]: Simplify phi2 into phi2 24.691 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.691 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.691 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.691 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.691 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.691 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.691 * [backup-simplify]: Simplify -0.5 into -0.5 24.691 * [taylor]: Taking taylor expansion of phi1 in phi1 24.691 * [backup-simplify]: Simplify 0 into 0 24.691 * [backup-simplify]: Simplify 1 into 1 24.691 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.691 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.691 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.691 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.691 * [backup-simplify]: Simplify lambda2 into lambda2 24.691 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.692 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.692 * [backup-simplify]: Simplify (- 0) into 0 24.692 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.692 * [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)))) 24.692 * [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))))) 24.693 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.693 * [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)) 24.693 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 24.693 * [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 phi1 24.693 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 24.693 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.693 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.693 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.693 * [backup-simplify]: Simplify -0.5 into -0.5 24.693 * [taylor]: Taking taylor expansion of phi2 in phi1 24.693 * [backup-simplify]: Simplify phi2 into phi2 24.693 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.693 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.693 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.693 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 24.693 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.693 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.693 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.693 * [backup-simplify]: Simplify -0.5 into -0.5 24.693 * [taylor]: Taking taylor expansion of phi1 in phi1 24.693 * [backup-simplify]: Simplify 0 into 0 24.693 * [backup-simplify]: Simplify 1 into 1 24.694 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.694 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.694 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 24.694 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.694 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.694 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.694 * [backup-simplify]: Simplify -0.5 into -0.5 24.694 * [taylor]: Taking taylor expansion of phi2 in phi1 24.694 * [backup-simplify]: Simplify phi2 into phi2 24.694 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.694 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.694 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.694 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.694 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.694 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.694 * [backup-simplify]: Simplify -0.5 into -0.5 24.694 * [taylor]: Taking taylor expansion of phi1 in phi1 24.694 * [backup-simplify]: Simplify 0 into 0 24.694 * [backup-simplify]: Simplify 1 into 1 24.694 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.694 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.694 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.694 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.694 * [backup-simplify]: Simplify lambda2 into lambda2 24.695 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.695 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.695 * [backup-simplify]: Simplify (- 0) into 0 24.695 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.695 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.695 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.695 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.695 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.695 * [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)))) 24.696 * [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))))) 24.696 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.696 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 24.696 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 24.696 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in phi1 24.696 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in phi1 24.696 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.696 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.696 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.696 * [backup-simplify]: Simplify -0.5 into -0.5 24.696 * [taylor]: Taking taylor expansion of phi1 in phi1 24.696 * [backup-simplify]: Simplify 0 into 0 24.697 * [backup-simplify]: Simplify 1 into 1 24.697 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.697 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.697 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in phi1 24.697 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.697 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.697 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.697 * [backup-simplify]: Simplify -0.5 into -0.5 24.697 * [taylor]: Taking taylor expansion of phi1 in phi1 24.697 * [backup-simplify]: Simplify 0 into 0 24.697 * [backup-simplify]: Simplify 1 into 1 24.698 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.698 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.698 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in phi1 24.698 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.698 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.698 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.698 * [backup-simplify]: Simplify -0.5 into -0.5 24.698 * [taylor]: Taking taylor expansion of phi2 in phi1 24.698 * [backup-simplify]: Simplify phi2 into phi2 24.698 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.698 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.698 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.698 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.698 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.698 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.698 * [backup-simplify]: Simplify -0.5 into -0.5 24.699 * [taylor]: Taking taylor expansion of phi2 in phi1 24.699 * [backup-simplify]: Simplify phi2 into phi2 24.699 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.699 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.699 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.699 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.699 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.699 * [backup-simplify]: Simplify lambda1 into lambda1 24.699 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.699 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.699 * [backup-simplify]: Simplify (- 0) into 0 24.700 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.700 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.700 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.700 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.700 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 24.700 * [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)))) 24.701 * [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))))) 24.701 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.701 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) 24.701 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 24.701 * [taylor]: Taking taylor expansion of 2 in phi1 24.701 * [backup-simplify]: Simplify 2 into 2 24.701 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 24.701 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 24.702 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 24.702 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 24.702 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.702 * [backup-simplify]: Simplify -0.5 into -0.5 24.702 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 24.702 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 24.702 * [taylor]: Taking taylor expansion of phi1 in phi1 24.702 * [backup-simplify]: Simplify 0 into 0 24.702 * [backup-simplify]: Simplify 1 into 1 24.702 * [backup-simplify]: Simplify (/ 1 1) into 1 24.702 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 24.702 * [taylor]: Taking taylor expansion of phi2 in phi1 24.702 * [backup-simplify]: Simplify phi2 into phi2 24.702 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.703 * [backup-simplify]: Simplify (+ 1 0) into 1 24.703 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 24.703 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.703 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 24.703 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.704 * [backup-simplify]: Simplify lambda2 into lambda2 24.704 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.704 * [backup-simplify]: Simplify lambda1 into lambda1 24.704 * [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) 24.704 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 24.704 * [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)) 24.711 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)))) into 0 24.711 * [taylor]: Taking taylor expansion of 0 in lambda1 24.711 * [backup-simplify]: Simplify 0 into 0 24.711 * [taylor]: Taking taylor expansion of 0 in lambda1 24.711 * [backup-simplify]: Simplify 0 into 0 24.711 * [taylor]: Taking taylor expansion of -1 in lambda2 24.711 * [backup-simplify]: Simplify -1 into -1 24.711 * [taylor]: Taking taylor expansion of 1 in lambda2 24.711 * [backup-simplify]: Simplify 1 into 1 24.713 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 24.714 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 24.714 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 24.714 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 24.715 * [backup-simplify]: Simplify (+ 0) into 0 24.715 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.716 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.717 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.717 * [backup-simplify]: Simplify (+ 0 0) into 0 24.717 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.718 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.718 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.718 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.719 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 24.719 * [backup-simplify]: Simplify (+ 0) into 0 24.720 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.720 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.722 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.722 * [backup-simplify]: Simplify (- 0) into 0 24.722 * [backup-simplify]: Simplify (+ 0 0) into 0 24.723 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.723 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.723 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.723 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.724 * [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 24.725 * [backup-simplify]: Simplify (+ 0) into 0 24.725 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.725 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.727 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.727 * [backup-simplify]: Simplify (- 0) into 0 24.727 * [backup-simplify]: Simplify (+ 0 0) into 0 24.728 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.728 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.728 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.728 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.728 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 24.729 * [backup-simplify]: Simplify (+ 0) into 0 24.730 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.730 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.730 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.731 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.731 * [backup-simplify]: Simplify (+ 0 0) into 0 24.731 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.731 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.731 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.731 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.732 * [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 24.732 * [backup-simplify]: Simplify (+ 0 0) into 0 24.732 * [backup-simplify]: Simplify (+ 0 0) into 0 24.732 * [backup-simplify]: Simplify (+ 0 0) into 0 24.733 * [backup-simplify]: Simplify (+ 0 0) into 0 24.733 * [backup-simplify]: Simplify (+ 0 0) into 0 24.733 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 24.733 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 24.734 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 24.734 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 24.734 * [backup-simplify]: Simplify (+ 0) into 0 24.735 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.735 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.735 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.736 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.736 * [backup-simplify]: Simplify (- 0) into 0 24.736 * [backup-simplify]: Simplify (+ 0 0) into 0 24.736 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.736 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 24.737 * [backup-simplify]: Simplify (+ 0) into 0 24.737 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.737 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.738 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.738 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.738 * [backup-simplify]: Simplify (+ 0 0) into 0 24.738 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 24.738 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.739 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 24.739 * [backup-simplify]: Simplify (+ 0) into 0 24.739 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.740 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.740 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.741 * [backup-simplify]: Simplify (+ 0 0) into 0 24.741 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 24.741 * [backup-simplify]: Simplify (+ 0) into 0 24.742 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.742 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.742 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.743 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.743 * [backup-simplify]: Simplify (- 0) into 0 24.743 * [backup-simplify]: Simplify (+ 0 0) into 0 24.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 24.743 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.744 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 24.744 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 phi1)))) into 0 24.745 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 24.745 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ 1 phi1)))) into 0 24.745 * [backup-simplify]: Simplify (+ 0) into 0 24.746 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.746 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.746 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.747 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.747 * [backup-simplify]: Simplify (+ 0 0) into 0 24.747 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.747 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 24.747 * [backup-simplify]: Simplify (+ 0) into 0 24.748 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.748 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.749 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.749 * [backup-simplify]: Simplify (- 0) into 0 24.749 * [backup-simplify]: Simplify (+ 0 0) into 0 24.749 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 24.749 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.750 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 24.750 * [backup-simplify]: Simplify (+ 0) into 0 24.750 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.751 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.751 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.751 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.751 * [backup-simplify]: Simplify (- 0) into 0 24.752 * [backup-simplify]: Simplify (+ 0 0) into 0 24.753 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.753 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 24.753 * [backup-simplify]: Simplify (+ 0) into 0 24.753 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.754 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.754 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.754 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.755 * [backup-simplify]: Simplify (+ 0 0) into 0 24.755 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 24.755 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.755 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 24.756 * [backup-simplify]: Simplify (+ 0 0) into 0 24.756 * [backup-simplify]: Simplify (+ 0 0) into 0 24.756 * [backup-simplify]: Simplify (+ 0 0) into 0 24.756 * [backup-simplify]: Simplify (+ 0 0) into 0 24.757 * [backup-simplify]: Simplify (+ 0 0) into 0 24.757 * [backup-simplify]: Simplify (- 0) into 0 24.757 * [backup-simplify]: Simplify (+ 0 0) into 0 24.763 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (/ -1 phi1) (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 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 (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))))))))) 24.763 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))))))))) in phi1 24.763 * [taylor]: Taking taylor expansion of 1/2 in phi1 24.763 * [backup-simplify]: Simplify 1/2 into 1/2 24.763 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2)))))))) in phi1 24.763 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))))) in phi1 24.763 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) in phi1 24.763 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 24.763 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 24.763 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.763 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.763 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.763 * [backup-simplify]: Simplify -0.5 into -0.5 24.763 * [taylor]: Taking taylor expansion of phi2 in phi1 24.763 * [backup-simplify]: Simplify phi2 into phi2 24.763 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.763 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.763 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.764 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.764 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.764 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.764 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 24.764 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.764 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.764 * [backup-simplify]: Simplify -0.5 into -0.5 24.764 * [taylor]: Taking taylor expansion of phi1 in phi1 24.764 * [backup-simplify]: Simplify 0 into 0 24.764 * [backup-simplify]: Simplify 1 into 1 24.764 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.764 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.764 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 24.764 * [taylor]: Taking taylor expansion of phi1 in phi1 24.764 * [backup-simplify]: Simplify 0 into 0 24.764 * [backup-simplify]: Simplify 1 into 1 24.764 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.764 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.764 * [backup-simplify]: Simplify lambda2 into lambda2 24.764 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.765 * [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)) 24.765 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.765 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 24.765 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.765 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 24.766 * [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)) 24.766 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))))) in phi1 24.766 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) in phi1 24.766 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 24.766 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 24.766 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.766 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.766 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.766 * [backup-simplify]: Simplify -0.5 into -0.5 24.766 * [taylor]: Taking taylor expansion of phi2 in phi1 24.766 * [backup-simplify]: Simplify phi2 into phi2 24.766 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.766 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.766 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.766 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.766 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.766 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.766 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 24.766 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.766 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.766 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.766 * [backup-simplify]: Simplify -0.5 into -0.5 24.766 * [taylor]: Taking taylor expansion of phi1 in phi1 24.766 * [backup-simplify]: Simplify 0 into 0 24.766 * [backup-simplify]: Simplify 1 into 1 24.767 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.767 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.767 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 24.767 * [taylor]: Taking taylor expansion of phi1 in phi1 24.767 * [backup-simplify]: Simplify 0 into 0 24.767 * [backup-simplify]: Simplify 1 into 1 24.767 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.767 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.767 * [backup-simplify]: Simplify lambda1 into lambda1 24.767 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.767 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.767 * [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)) 24.767 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.767 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 24.767 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.768 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 24.768 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 24.768 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))) in phi1 24.768 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) in phi1 24.768 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 24.768 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 24.768 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.768 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.768 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.768 * [backup-simplify]: Simplify -0.5 into -0.5 24.768 * [taylor]: Taking taylor expansion of phi2 in phi1 24.768 * [backup-simplify]: Simplify phi2 into phi2 24.768 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.768 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.768 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.768 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.768 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.769 * [backup-simplify]: Simplify (- 0) into 0 24.769 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.769 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 24.769 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.769 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.769 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.769 * [backup-simplify]: Simplify -0.5 into -0.5 24.769 * [taylor]: Taking taylor expansion of phi1 in phi1 24.769 * [backup-simplify]: Simplify 0 into 0 24.769 * [backup-simplify]: Simplify 1 into 1 24.769 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.769 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.769 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 24.769 * [taylor]: Taking taylor expansion of phi1 in phi1 24.770 * [backup-simplify]: Simplify 0 into 0 24.770 * [backup-simplify]: Simplify 1 into 1 24.770 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.770 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.770 * [backup-simplify]: Simplify lambda1 into lambda1 24.770 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.770 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.770 * [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)) 24.770 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.770 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 24.770 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.770 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 24.771 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 24.771 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) in phi1 24.771 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 24.771 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 24.771 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.771 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.771 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.771 * [backup-simplify]: Simplify -0.5 into -0.5 24.771 * [taylor]: Taking taylor expansion of phi2 in phi1 24.771 * [backup-simplify]: Simplify phi2 into phi2 24.771 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.771 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.771 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.771 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.771 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.771 * [backup-simplify]: Simplify (- 0) into 0 24.772 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.772 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 24.772 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.772 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.772 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.772 * [backup-simplify]: Simplify -0.5 into -0.5 24.772 * [taylor]: Taking taylor expansion of phi1 in phi1 24.772 * [backup-simplify]: Simplify 0 into 0 24.772 * [backup-simplify]: Simplify 1 into 1 24.772 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.772 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.772 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 24.772 * [taylor]: Taking taylor expansion of phi1 in phi1 24.772 * [backup-simplify]: Simplify 0 into 0 24.772 * [backup-simplify]: Simplify 1 into 1 24.772 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.772 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.772 * [backup-simplify]: Simplify lambda2 into lambda2 24.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.773 * [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)) 24.773 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.773 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 24.773 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.773 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 24.773 * [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)) 24.773 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))))))) in phi1 24.773 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) in phi1 24.773 * [taylor]: Taking taylor expansion of 2 in phi1 24.773 * [backup-simplify]: Simplify 2 into 2 24.773 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1))) in phi1 24.774 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 24.774 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 24.774 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 24.774 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.774 * [backup-simplify]: Simplify -0.5 into -0.5 24.774 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 24.774 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 24.774 * [taylor]: Taking taylor expansion of phi1 in phi1 24.774 * [backup-simplify]: Simplify 0 into 0 24.774 * [backup-simplify]: Simplify 1 into 1 24.774 * [backup-simplify]: Simplify (/ 1 1) into 1 24.774 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 24.774 * [taylor]: Taking taylor expansion of phi2 in phi1 24.774 * [backup-simplify]: Simplify phi2 into phi2 24.774 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.774 * [backup-simplify]: Simplify (+ 1 0) into 1 24.775 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 24.775 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.775 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 phi1)) in phi1 24.775 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.775 * [backup-simplify]: Simplify lambda2 into lambda2 24.775 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 24.775 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.775 * [backup-simplify]: Simplify lambda1 into lambda1 24.775 * [taylor]: Taking taylor expansion of phi1 in phi1 24.775 * [backup-simplify]: Simplify 0 into 0 24.775 * [backup-simplify]: Simplify 1 into 1 24.775 * [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) 24.775 * [backup-simplify]: Simplify (* lambda1 0) into 0 24.775 * [backup-simplify]: Simplify (* lambda2 0) into 0 24.775 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 24.776 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 24.776 * [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)) 24.776 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2)))))) in phi1 24.776 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) in phi1 24.776 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 24.776 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.776 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.776 * [backup-simplify]: Simplify -0.5 into -0.5 24.776 * [taylor]: Taking taylor expansion of phi1 in phi1 24.776 * [backup-simplify]: Simplify 0 into 0 24.776 * [backup-simplify]: Simplify 1 into 1 24.776 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.776 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.777 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 24.777 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.777 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.777 * [backup-simplify]: Simplify -0.5 into -0.5 24.777 * [taylor]: Taking taylor expansion of phi2 in phi1 24.777 * [backup-simplify]: Simplify phi2 into phi2 24.777 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.777 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.777 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 24.777 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.777 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.777 * [backup-simplify]: Simplify -0.5 into -0.5 24.777 * [taylor]: Taking taylor expansion of phi1 in phi1 24.777 * [backup-simplify]: Simplify 0 into 0 24.777 * [backup-simplify]: Simplify 1 into 1 24.777 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.777 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.777 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.777 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.777 * [backup-simplify]: Simplify -0.5 into -0.5 24.777 * [taylor]: Taking taylor expansion of phi2 in phi1 24.777 * [backup-simplify]: Simplify phi2 into phi2 24.777 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.778 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.778 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 24.778 * [taylor]: Taking taylor expansion of phi1 in phi1 24.778 * [backup-simplify]: Simplify 0 into 0 24.778 * [backup-simplify]: Simplify 1 into 1 24.778 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.778 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.778 * [backup-simplify]: Simplify lambda1 into lambda1 24.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.778 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.778 * [backup-simplify]: Simplify (- 0) into 0 24.778 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 24.778 * [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)))) 24.779 * [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))))) 24.779 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.779 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 24.779 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.779 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 24.779 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) 24.780 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))))) in phi1 24.780 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) in phi1 24.780 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 24.780 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.780 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.780 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.780 * [backup-simplify]: Simplify -0.5 into -0.5 24.780 * [taylor]: Taking taylor expansion of phi1 in phi1 24.780 * [backup-simplify]: Simplify 0 into 0 24.780 * [backup-simplify]: Simplify 1 into 1 24.780 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.780 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 24.780 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.780 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.780 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.780 * [backup-simplify]: Simplify -0.5 into -0.5 24.780 * [taylor]: Taking taylor expansion of phi2 in phi1 24.780 * [backup-simplify]: Simplify phi2 into phi2 24.780 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.780 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.780 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 24.780 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.780 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.780 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.780 * [backup-simplify]: Simplify -0.5 into -0.5 24.780 * [taylor]: Taking taylor expansion of phi1 in phi1 24.780 * [backup-simplify]: Simplify 0 into 0 24.780 * [backup-simplify]: Simplify 1 into 1 24.781 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.781 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.781 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.781 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.781 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.781 * [backup-simplify]: Simplify -0.5 into -0.5 24.781 * [taylor]: Taking taylor expansion of phi2 in phi1 24.781 * [backup-simplify]: Simplify phi2 into phi2 24.781 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.781 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.781 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.781 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 24.781 * [taylor]: Taking taylor expansion of phi1 in phi1 24.781 * [backup-simplify]: Simplify 0 into 0 24.781 * [backup-simplify]: Simplify 1 into 1 24.781 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.781 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.781 * [backup-simplify]: Simplify lambda2 into lambda2 24.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.781 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.782 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.782 * [backup-simplify]: Simplify (- 0) into 0 24.782 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.782 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 24.782 * [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)))) 24.782 * [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))))) 24.782 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.782 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 24.782 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.783 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 24.783 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) 24.783 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2)))) in phi1 24.783 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) in phi1 24.783 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 24.783 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.783 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.783 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.783 * [backup-simplify]: Simplify -0.5 into -0.5 24.783 * [taylor]: Taking taylor expansion of phi1 in phi1 24.783 * [backup-simplify]: Simplify 0 into 0 24.783 * [backup-simplify]: Simplify 1 into 1 24.784 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.784 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.784 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 24.784 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.784 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.784 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.784 * [backup-simplify]: Simplify -0.5 into -0.5 24.784 * [taylor]: Taking taylor expansion of phi2 in phi1 24.784 * [backup-simplify]: Simplify phi2 into phi2 24.784 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.784 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.784 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.784 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 24.784 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.784 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.784 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.784 * [backup-simplify]: Simplify -0.5 into -0.5 24.784 * [taylor]: Taking taylor expansion of phi2 in phi1 24.784 * [backup-simplify]: Simplify phi2 into phi2 24.785 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.785 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.785 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.785 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.785 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.785 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.785 * [backup-simplify]: Simplify -0.5 into -0.5 24.785 * [taylor]: Taking taylor expansion of phi1 in phi1 24.785 * [backup-simplify]: Simplify 0 into 0 24.785 * [backup-simplify]: Simplify 1 into 1 24.786 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.786 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.786 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 24.786 * [taylor]: Taking taylor expansion of phi1 in phi1 24.786 * [backup-simplify]: Simplify 0 into 0 24.786 * [backup-simplify]: Simplify 1 into 1 24.786 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 24.786 * [taylor]: Taking taylor expansion of lambda2 in phi1 24.786 * [backup-simplify]: Simplify lambda2 into lambda2 24.786 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.786 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.786 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.787 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.787 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.787 * [backup-simplify]: Simplify (- 0) into 0 24.787 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.787 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.788 * [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)))) 24.788 * [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))))) 24.788 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.788 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 24.788 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 24.789 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 24.789 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 24.789 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))) in phi1 24.789 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 24.789 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.789 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.790 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.790 * [backup-simplify]: Simplify -0.5 into -0.5 24.790 * [taylor]: Taking taylor expansion of phi1 in phi1 24.790 * [backup-simplify]: Simplify 0 into 0 24.790 * [backup-simplify]: Simplify 1 into 1 24.790 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.790 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.790 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 24.790 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.790 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.790 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.790 * [backup-simplify]: Simplify -0.5 into -0.5 24.790 * [taylor]: Taking taylor expansion of phi2 in phi1 24.790 * [backup-simplify]: Simplify phi2 into phi2 24.791 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.791 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.791 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.791 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 24.791 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.791 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.791 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.791 * [backup-simplify]: Simplify -0.5 into -0.5 24.791 * [taylor]: Taking taylor expansion of phi2 in phi1 24.791 * [backup-simplify]: Simplify phi2 into phi2 24.791 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.791 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.791 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.791 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.791 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.791 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.791 * [backup-simplify]: Simplify -0.5 into -0.5 24.791 * [taylor]: Taking taylor expansion of phi1 in phi1 24.791 * [backup-simplify]: Simplify 0 into 0 24.791 * [backup-simplify]: Simplify 1 into 1 24.792 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.792 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.792 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 24.792 * [taylor]: Taking taylor expansion of phi1 in phi1 24.792 * [backup-simplify]: Simplify 0 into 0 24.792 * [backup-simplify]: Simplify 1 into 1 24.792 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 24.792 * [taylor]: Taking taylor expansion of lambda1 in phi1 24.792 * [backup-simplify]: Simplify lambda1 into lambda1 24.792 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.792 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.793 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.793 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.793 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.793 * [backup-simplify]: Simplify (- 0) into 0 24.793 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.794 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.794 * [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)))) 24.794 * [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))))) 24.795 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 24.795 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 24.795 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 24.795 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 24.796 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 24.797 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 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 (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))) 24.799 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) 24.801 * [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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) 24.802 * [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))) 24.803 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) 24.805 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (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 lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -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)))) 24.808 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -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))))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) 24.812 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))) 24.816 * [backup-simplify]: Simplify (- (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) into (- (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2))))))) 24.824 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 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))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))))) 24.832 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 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))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) into (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -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 lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) 24.832 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -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 lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) in lambda1 24.832 * [taylor]: Taking taylor expansion of 1/2 in lambda1 24.832 * [backup-simplify]: Simplify 1/2 into 1/2 24.832 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -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 lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))))) in lambda1 24.832 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1 24.832 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 24.832 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 24.832 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 24.832 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.832 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.832 * [backup-simplify]: Simplify -0.5 into -0.5 24.832 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.833 * [backup-simplify]: Simplify phi2 into phi2 24.833 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.833 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.833 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 24.833 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.833 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.833 * [backup-simplify]: Simplify -0.5 into -0.5 24.833 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.833 * [backup-simplify]: Simplify phi1 into phi1 24.833 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.834 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.834 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.834 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.834 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.834 * [backup-simplify]: Simplify 0 into 0 24.834 * [backup-simplify]: Simplify 1 into 1 24.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.835 * [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)) 24.835 * [backup-simplify]: Simplify (* 1 1) into 1 24.836 * [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)) 24.836 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 24.836 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 24.836 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 24.836 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 24.836 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.836 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.836 * [backup-simplify]: Simplify -0.5 into -0.5 24.836 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.836 * [backup-simplify]: Simplify phi2 into phi2 24.836 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.837 * [backup-simplify]: Simplify (- 0) into 0 24.837 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.837 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 24.837 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.837 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.837 * [backup-simplify]: Simplify -0.5 into -0.5 24.837 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.837 * [backup-simplify]: Simplify phi1 into phi1 24.837 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.838 * [backup-simplify]: Simplify (- 0) into 0 24.838 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.838 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.838 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.838 * [backup-simplify]: Simplify lambda2 into lambda2 24.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.839 * [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)) 24.839 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.840 * [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)) 24.840 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 24.840 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 24.840 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 24.840 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 24.840 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.840 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.840 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.840 * [backup-simplify]: Simplify -0.5 into -0.5 24.840 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.840 * [backup-simplify]: Simplify phi2 into phi2 24.840 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.840 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.840 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.841 * [backup-simplify]: Simplify (- 0) into 0 24.841 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.841 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 24.841 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.841 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.841 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.841 * [backup-simplify]: Simplify -0.5 into -0.5 24.841 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.841 * [backup-simplify]: Simplify phi1 into phi1 24.841 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.842 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.842 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.842 * [backup-simplify]: Simplify (- 0) into 0 24.842 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.842 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.842 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.842 * [backup-simplify]: Simplify 0 into 0 24.842 * [backup-simplify]: Simplify 1 into 1 24.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.843 * [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)) 24.844 * [backup-simplify]: Simplify (* 1 1) into 1 24.844 * [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)) 24.844 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 24.844 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 24.844 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 24.844 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.844 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.844 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.844 * [backup-simplify]: Simplify -0.5 into -0.5 24.844 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.844 * [backup-simplify]: Simplify phi2 into phi2 24.844 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.844 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.845 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.845 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.845 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.845 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 24.845 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.845 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.845 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.845 * [backup-simplify]: Simplify -0.5 into -0.5 24.845 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.845 * [backup-simplify]: Simplify phi1 into phi1 24.845 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.845 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.845 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.846 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.846 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.846 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.846 * [backup-simplify]: Simplify lambda2 into lambda2 24.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.847 * [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)) 24.847 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.847 * [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)) 24.847 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -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 lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))) in lambda1 24.848 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1 24.848 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 24.848 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.848 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.848 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.848 * [backup-simplify]: Simplify -0.5 into -0.5 24.848 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.848 * [backup-simplify]: Simplify phi2 into phi2 24.848 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.848 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.848 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.848 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 24.848 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.848 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.848 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.848 * [backup-simplify]: Simplify -0.5 into -0.5 24.848 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.848 * [backup-simplify]: Simplify phi1 into phi1 24.848 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.848 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.848 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.849 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 24.849 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.849 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.849 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.849 * [backup-simplify]: Simplify -0.5 into -0.5 24.849 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.849 * [backup-simplify]: Simplify phi2 into phi2 24.849 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.849 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.849 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.849 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.849 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.849 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.849 * [backup-simplify]: Simplify -0.5 into -0.5 24.849 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.849 * [backup-simplify]: Simplify phi1 into phi1 24.849 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.849 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.849 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.849 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.849 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.850 * [backup-simplify]: Simplify lambda2 into lambda2 24.850 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.850 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.850 * [backup-simplify]: Simplify (- 0) into 0 24.850 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.851 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.851 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.851 * [backup-simplify]: Simplify (- 0) into 0 24.851 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.852 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.852 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.852 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.852 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.852 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.852 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.852 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.853 * [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)))) 24.853 * [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))))) 24.853 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.854 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 24.854 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in lambda1 24.854 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in lambda1 24.854 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1 24.854 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.854 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.854 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.854 * [backup-simplify]: Simplify -0.5 into -0.5 24.854 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.854 * [backup-simplify]: Simplify phi2 into phi2 24.854 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.854 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.854 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.854 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1 24.854 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.854 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.854 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.854 * [backup-simplify]: Simplify -0.5 into -0.5 24.854 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.854 * [backup-simplify]: Simplify phi1 into phi1 24.854 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.855 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.855 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1 24.855 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.855 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.855 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.855 * [backup-simplify]: Simplify -0.5 into -0.5 24.855 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.855 * [backup-simplify]: Simplify phi1 into phi1 24.855 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.855 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.855 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.855 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.855 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.855 * [backup-simplify]: Simplify -0.5 into -0.5 24.855 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.855 * [backup-simplify]: Simplify phi2 into phi2 24.855 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.856 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.856 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.856 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.856 * [backup-simplify]: Simplify 0 into 0 24.856 * [backup-simplify]: Simplify 1 into 1 24.856 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.856 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.856 * [backup-simplify]: Simplify (- 0) into 0 24.857 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.857 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.857 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.857 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.858 * [backup-simplify]: Simplify (- 0) into 0 24.858 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.858 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.858 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.858 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.858 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 24.858 * [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)))) 24.859 * [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))))) 24.865 * [backup-simplify]: Simplify (* 1 1) into 1 24.866 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 24.866 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in lambda1 24.866 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 24.866 * [taylor]: Taking taylor expansion of 2 in lambda1 24.866 * [backup-simplify]: Simplify 2 into 2 24.866 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 24.866 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 24.866 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 24.866 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 24.866 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.866 * [backup-simplify]: Simplify -0.5 into -0.5 24.866 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 24.866 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 24.866 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.866 * [backup-simplify]: Simplify phi1 into phi1 24.867 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.867 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 24.867 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.867 * [backup-simplify]: Simplify phi2 into phi2 24.867 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.867 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 24.867 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 24.867 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.867 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.868 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.868 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 24.869 * [backup-simplify]: Simplify (- 0) into 0 24.869 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.869 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 24.869 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.869 * [backup-simplify]: Simplify lambda2 into lambda2 24.869 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.869 * [backup-simplify]: Simplify 0 into 0 24.869 * [backup-simplify]: Simplify 1 into 1 24.869 * [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) 24.869 * [backup-simplify]: Simplify (* lambda2 0) into 0 24.870 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 24.870 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 24.870 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in lambda1 24.870 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 24.870 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 24.870 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.870 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.870 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.871 * [backup-simplify]: Simplify -0.5 into -0.5 24.871 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.871 * [backup-simplify]: Simplify phi2 into phi2 24.871 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.871 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.871 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.871 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 24.871 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.871 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.871 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.871 * [backup-simplify]: Simplify -0.5 into -0.5 24.871 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.871 * [backup-simplify]: Simplify phi1 into phi1 24.871 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.871 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.871 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.871 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 24.871 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.871 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.871 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.872 * [backup-simplify]: Simplify -0.5 into -0.5 24.872 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.872 * [backup-simplify]: Simplify phi2 into phi2 24.872 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.872 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.872 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.872 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.872 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.872 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.872 * [backup-simplify]: Simplify -0.5 into -0.5 24.872 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.872 * [backup-simplify]: Simplify phi1 into phi1 24.872 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.872 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.872 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.872 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.872 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.872 * [backup-simplify]: Simplify 0 into 0 24.872 * [backup-simplify]: Simplify 1 into 1 24.873 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.873 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.873 * [backup-simplify]: Simplify (- 0) into 0 24.873 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.873 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.874 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.874 * [backup-simplify]: Simplify (- 0) into 0 24.874 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.874 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.874 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.874 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.875 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.875 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.875 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.875 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.876 * [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)))) 24.876 * [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))))) 24.876 * [backup-simplify]: Simplify (* 1 1) into 1 24.877 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 24.877 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1 24.877 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 24.877 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.877 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.877 * [backup-simplify]: Simplify -0.5 into -0.5 24.877 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.877 * [backup-simplify]: Simplify phi2 into phi2 24.877 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.877 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.877 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.877 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 24.877 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.877 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.878 * [backup-simplify]: Simplify -0.5 into -0.5 24.878 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.878 * [backup-simplify]: Simplify phi1 into phi1 24.878 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.878 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 24.878 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.878 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.878 * [backup-simplify]: Simplify -0.5 into -0.5 24.878 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.878 * [backup-simplify]: Simplify phi2 into phi2 24.878 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.878 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.878 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.878 * [backup-simplify]: Simplify -0.5 into -0.5 24.878 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.879 * [backup-simplify]: Simplify phi1 into phi1 24.879 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.879 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.879 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.879 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.879 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.879 * [backup-simplify]: Simplify lambda2 into lambda2 24.879 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.879 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.879 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.880 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.880 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.880 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.880 * [backup-simplify]: Simplify (- 0) into 0 24.880 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.881 * [backup-simplify]: Simplify (- 0) into 0 24.881 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.882 * [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)))) 24.882 * [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))))) 24.882 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.883 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 24.883 * [backup-simplify]: Simplify (+ 0) into 0 24.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.885 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.886 * [backup-simplify]: Simplify (+ 0 0) into 0 24.886 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.886 * [backup-simplify]: Simplify (+ 0) into 0 24.887 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.887 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.889 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.889 * [backup-simplify]: Simplify (+ 0 0) into 0 24.889 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.890 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.891 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.892 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 24.892 * [backup-simplify]: Simplify (+ 0) into 0 24.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.893 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.894 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.894 * [backup-simplify]: Simplify (- 0) into 0 24.895 * [backup-simplify]: Simplify (+ 0 0) into 0 24.895 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.895 * [backup-simplify]: Simplify (+ 0) into 0 24.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.896 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.897 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.897 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.897 * [backup-simplify]: Simplify (- 0) into 0 24.897 * [backup-simplify]: Simplify (+ 0 0) into 0 24.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.898 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.898 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.899 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 24.899 * [backup-simplify]: Simplify (+ 0 0) into 0 24.899 * [backup-simplify]: Simplify (+ 0 0) into 0 24.900 * [backup-simplify]: Simplify (+ 0 0) into 0 24.900 * [backup-simplify]: Simplify (+ 0) into 0 24.900 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.900 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.901 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.901 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.901 * [backup-simplify]: Simplify (+ 0 0) into 0 24.901 * [backup-simplify]: Simplify (+ 0) into 0 24.902 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.902 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.903 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.903 * [backup-simplify]: Simplify (- 0) into 0 24.903 * [backup-simplify]: Simplify (+ 0 0) into 0 24.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.903 * [backup-simplify]: Simplify (+ 0) into 0 24.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.904 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.904 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.905 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.905 * [backup-simplify]: Simplify (+ 0 0) into 0 24.905 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 24.905 * [backup-simplify]: Simplify (+ 0) into 0 24.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.906 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.907 * [backup-simplify]: Simplify (- 0) into 0 24.907 * [backup-simplify]: Simplify (+ 0 0) into 0 24.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 24.907 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.908 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (/ 0 1)))) into 0 24.908 * [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)) 24.909 * [backup-simplify]: Simplify (+ 0) into 0 24.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.909 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.910 * [backup-simplify]: Simplify (+ 0 0) into 0 24.910 * [backup-simplify]: Simplify (+ 0) into 0 24.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.911 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.911 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.912 * [backup-simplify]: Simplify (+ 0 0) into 0 24.912 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.912 * [backup-simplify]: Simplify (+ 0) into 0 24.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.913 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.914 * [backup-simplify]: Simplify (- 0) into 0 24.914 * [backup-simplify]: Simplify (+ 0 0) into 0 24.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 24.914 * [backup-simplify]: Simplify (+ 0) into 0 24.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.915 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.915 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.916 * [backup-simplify]: Simplify (- 0) into 0 24.916 * [backup-simplify]: Simplify (+ 0 0) into 0 24.916 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 24.916 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.917 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0 24.917 * [backup-simplify]: Simplify (+ 0 0) into 0 24.918 * [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)) 24.918 * [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)) 24.918 * [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)) 24.918 * [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))) 24.919 * [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))) 24.919 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 0) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 24.919 * [backup-simplify]: Simplify (+ 0 (* (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)) 24.920 * [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))) 24.920 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 24.920 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (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))))) 24.921 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) 24.921 * [backup-simplify]: Simplify (+ 0 (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (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))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 24.922 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) 24.922 * [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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -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))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) 24.924 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 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 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) into (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 24.924 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 24.924 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 24.924 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 24.924 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 24.924 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 24.924 * [taylor]: Taking taylor expansion of -0.5 in lambda2 24.924 * [backup-simplify]: Simplify -0.5 into -0.5 24.924 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 24.924 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 24.924 * [taylor]: Taking taylor expansion of phi1 in lambda2 24.924 * [backup-simplify]: Simplify phi1 into phi1 24.924 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.924 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 24.924 * [taylor]: Taking taylor expansion of phi2 in lambda2 24.924 * [backup-simplify]: Simplify phi2 into phi2 24.924 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.924 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 24.924 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 24.924 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.925 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.925 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.925 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 24.925 * [backup-simplify]: Simplify (- 0) into 0 24.925 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.925 * [taylor]: Taking taylor expansion of lambda2 in lambda2 24.925 * [backup-simplify]: Simplify 0 into 0 24.925 * [backup-simplify]: Simplify 1 into 1 24.925 * [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) 24.926 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 24.926 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 24.926 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 24.927 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) 24.928 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 24.931 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) 24.931 * [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))) 24.932 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 24.934 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 24.937 * [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 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 24.940 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 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)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))) 24.944 * [backup-simplify]: Simplify (- (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))))) 24.952 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) 24.959 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))))) into (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))))) 24.959 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))))) in lambda1 24.960 * [taylor]: Taking taylor expansion of 1/2 in lambda1 24.960 * [backup-simplify]: Simplify 1/2 into 1/2 24.960 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) in lambda1 24.960 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1 24.960 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 24.960 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 24.960 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 24.960 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.960 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.960 * [backup-simplify]: Simplify -0.5 into -0.5 24.960 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.960 * [backup-simplify]: Simplify phi2 into phi2 24.960 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.960 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.961 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.961 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 24.961 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.961 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.961 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.961 * [backup-simplify]: Simplify -0.5 into -0.5 24.961 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.961 * [backup-simplify]: Simplify phi1 into phi1 24.961 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.961 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.961 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.961 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.961 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.962 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.962 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.962 * [backup-simplify]: Simplify 0 into 0 24.962 * [backup-simplify]: Simplify 1 into 1 24.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.962 * [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)) 24.963 * [backup-simplify]: Simplify (* 1 1) into 1 24.964 * [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)) 24.964 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 24.964 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 24.964 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 24.964 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 24.964 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.964 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.964 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.964 * [backup-simplify]: Simplify -0.5 into -0.5 24.964 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.964 * [backup-simplify]: Simplify phi2 into phi2 24.964 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.964 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.964 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.964 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.965 * [backup-simplify]: Simplify (- 0) into 0 24.965 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.965 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 24.965 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.965 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.965 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.965 * [backup-simplify]: Simplify -0.5 into -0.5 24.965 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.965 * [backup-simplify]: Simplify phi1 into phi1 24.965 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.965 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.965 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.966 * [backup-simplify]: Simplify (- 0) into 0 24.966 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.966 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.966 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.966 * [backup-simplify]: Simplify lambda2 into lambda2 24.966 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.967 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.967 * [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)) 24.967 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.967 * [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)) 24.967 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 24.968 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 24.968 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 24.968 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 24.968 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.968 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.968 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.968 * [backup-simplify]: Simplify -0.5 into -0.5 24.968 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.968 * [backup-simplify]: Simplify phi2 into phi2 24.968 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.968 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.968 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.968 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.969 * [backup-simplify]: Simplify (- 0) into 0 24.969 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.969 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 24.969 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.969 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.969 * [backup-simplify]: Simplify -0.5 into -0.5 24.969 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.969 * [backup-simplify]: Simplify phi1 into phi1 24.969 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.969 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.970 * [backup-simplify]: Simplify (- 0) into 0 24.970 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.970 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.970 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.970 * [backup-simplify]: Simplify 0 into 0 24.970 * [backup-simplify]: Simplify 1 into 1 24.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.971 * [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)) 24.971 * [backup-simplify]: Simplify (* 1 1) into 1 24.972 * [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)) 24.972 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 24.972 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 24.972 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 24.972 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.972 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.972 * [backup-simplify]: Simplify -0.5 into -0.5 24.972 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.972 * [backup-simplify]: Simplify phi2 into phi2 24.972 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.972 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.972 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.972 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.972 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.972 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 24.972 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.973 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.973 * [backup-simplify]: Simplify -0.5 into -0.5 24.973 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.973 * [backup-simplify]: Simplify phi1 into phi1 24.973 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.973 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.973 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.973 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.973 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.973 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.973 * [backup-simplify]: Simplify lambda2 into lambda2 24.973 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.974 * [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)) 24.974 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.974 * [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)) 24.974 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))) in lambda1 24.975 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 24.975 * [taylor]: Taking taylor expansion of 2 in lambda1 24.975 * [backup-simplify]: Simplify 2 into 2 24.975 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 24.975 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 24.975 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 24.975 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 24.975 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.975 * [backup-simplify]: Simplify -0.5 into -0.5 24.975 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 24.975 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 24.975 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.975 * [backup-simplify]: Simplify phi1 into phi1 24.975 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 24.975 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 24.975 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.975 * [backup-simplify]: Simplify phi2 into phi2 24.975 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 24.975 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 24.975 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 24.976 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.976 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.976 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.976 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 24.977 * [backup-simplify]: Simplify (- 0) into 0 24.977 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 24.977 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 24.977 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.977 * [backup-simplify]: Simplify lambda2 into lambda2 24.977 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.977 * [backup-simplify]: Simplify 0 into 0 24.977 * [backup-simplify]: Simplify 1 into 1 24.978 * [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) 24.978 * [backup-simplify]: Simplify (* lambda2 0) into 0 24.978 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 24.978 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 24.978 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))) in lambda1 24.979 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) in lambda1 24.979 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1 24.979 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.979 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.979 * [backup-simplify]: Simplify -0.5 into -0.5 24.979 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.979 * [backup-simplify]: Simplify phi1 into phi1 24.979 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.979 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1 24.979 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.979 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.979 * [backup-simplify]: Simplify -0.5 into -0.5 24.979 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.979 * [backup-simplify]: Simplify phi2 into phi2 24.979 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.980 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1 24.980 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.980 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.980 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.980 * [backup-simplify]: Simplify -0.5 into -0.5 24.980 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.980 * [backup-simplify]: Simplify phi1 into phi1 24.980 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.980 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.980 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.980 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.980 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.980 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.980 * [backup-simplify]: Simplify -0.5 into -0.5 24.980 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.980 * [backup-simplify]: Simplify phi2 into phi2 24.980 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.980 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.980 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.980 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.981 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.981 * [backup-simplify]: Simplify lambda2 into lambda2 24.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.981 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.981 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.981 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.981 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.981 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.982 * [backup-simplify]: Simplify (- 0) into 0 24.982 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.983 * [backup-simplify]: Simplify (- 0) into 0 24.983 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 24.984 * [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)))) 24.984 * [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))))) 24.984 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.984 * [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)) 24.984 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))) in lambda1 24.984 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 24.984 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 24.984 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.984 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.984 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.984 * [backup-simplify]: Simplify -0.5 into -0.5 24.984 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.984 * [backup-simplify]: Simplify phi2 into phi2 24.984 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.984 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.984 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.985 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 24.985 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.985 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.985 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.985 * [backup-simplify]: Simplify -0.5 into -0.5 24.985 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.985 * [backup-simplify]: Simplify phi1 into phi1 24.985 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.985 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.985 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.985 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 24.985 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.985 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.985 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.985 * [backup-simplify]: Simplify -0.5 into -0.5 24.985 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.985 * [backup-simplify]: Simplify phi2 into phi2 24.985 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.985 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.985 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.985 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.985 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.985 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.985 * [backup-simplify]: Simplify -0.5 into -0.5 24.985 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.985 * [backup-simplify]: Simplify phi1 into phi1 24.985 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.985 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.985 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.985 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.985 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.985 * [backup-simplify]: Simplify 0 into 0 24.985 * [backup-simplify]: Simplify 1 into 1 24.985 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.985 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.986 * [backup-simplify]: Simplify (- 0) into 0 24.986 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.986 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.986 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.986 * [backup-simplify]: Simplify (- 0) into 0 24.986 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.986 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.986 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.987 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.987 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.987 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.987 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.987 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 24.987 * [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)))) 24.987 * [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))))) 24.987 * [backup-simplify]: Simplify (* 1 1) into 1 24.988 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 24.988 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))) in lambda1 24.988 * [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 24.988 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda1 24.988 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.988 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.988 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.988 * [backup-simplify]: Simplify -0.5 into -0.5 24.988 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.988 * [backup-simplify]: Simplify phi2 into phi2 24.988 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.988 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.988 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.988 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda1 24.988 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.988 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.988 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.988 * [backup-simplify]: Simplify -0.5 into -0.5 24.988 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.988 * [backup-simplify]: Simplify phi2 into phi2 24.988 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.988 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.988 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.988 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda1 24.988 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.988 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.988 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.988 * [backup-simplify]: Simplify -0.5 into -0.5 24.988 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.988 * [backup-simplify]: Simplify phi1 into phi1 24.988 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.988 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.989 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.989 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.989 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.989 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.989 * [backup-simplify]: Simplify -0.5 into -0.5 24.989 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.989 * [backup-simplify]: Simplify phi1 into phi1 24.989 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.989 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.989 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.989 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 24.989 * [taylor]: Taking taylor expansion of lambda2 in lambda1 24.989 * [backup-simplify]: Simplify lambda2 into lambda2 24.989 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.989 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.989 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.989 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.989 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.989 * [backup-simplify]: Simplify (- 0) into 0 24.990 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.990 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.990 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.990 * [backup-simplify]: Simplify (- 0) into 0 24.990 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.990 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.990 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.990 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.990 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 24.990 * [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)))) 24.991 * [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))))) 24.991 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 24.991 * [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)) 24.991 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 24.991 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 24.991 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 24.991 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.991 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.991 * [backup-simplify]: Simplify -0.5 into -0.5 24.991 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.991 * [backup-simplify]: Simplify phi1 into phi1 24.991 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.991 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.991 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.991 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 24.991 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 24.991 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.991 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.991 * [backup-simplify]: Simplify -0.5 into -0.5 24.991 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.991 * [backup-simplify]: Simplify phi2 into phi2 24.991 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.991 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.992 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.992 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 24.992 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 24.992 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 24.992 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.992 * [backup-simplify]: Simplify -0.5 into -0.5 24.992 * [taylor]: Taking taylor expansion of phi2 in lambda1 24.992 * [backup-simplify]: Simplify phi2 into phi2 24.992 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.992 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.992 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.992 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 24.992 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 24.992 * [taylor]: Taking taylor expansion of -0.5 in lambda1 24.992 * [backup-simplify]: Simplify -0.5 into -0.5 24.992 * [taylor]: Taking taylor expansion of phi1 in lambda1 24.992 * [backup-simplify]: Simplify phi1 into phi1 24.992 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 24.992 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.992 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.992 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 24.992 * [taylor]: Taking taylor expansion of lambda1 in lambda1 24.992 * [backup-simplify]: Simplify 0 into 0 24.992 * [backup-simplify]: Simplify 1 into 1 24.992 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 24.992 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 24.992 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 24.992 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.992 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.993 * [backup-simplify]: Simplify (- 0) into 0 24.993 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.993 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.993 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.993 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.993 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 24.993 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 24.993 * [backup-simplify]: Simplify (- 0) into 0 24.993 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 24.994 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 24.994 * [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)))) 24.994 * [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))))) 24.994 * [backup-simplify]: Simplify (* 1 1) into 1 24.994 * [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))))) 24.995 * [backup-simplify]: Simplify (+ 0) into 0 24.995 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.995 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.996 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.996 * [backup-simplify]: Simplify (+ 0 0) into 0 24.996 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.996 * [backup-simplify]: Simplify (+ 0) into 0 24.997 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.997 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.998 * [backup-simplify]: Simplify (+ 0 0) into 0 24.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.998 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.999 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.000 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 25.000 * [backup-simplify]: Simplify (+ 0) into 0 25.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.000 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.001 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.001 * [backup-simplify]: Simplify (- 0) into 0 25.002 * [backup-simplify]: Simplify (+ 0 0) into 0 25.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 25.002 * [backup-simplify]: Simplify (+ 0) into 0 25.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.002 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.003 * [backup-simplify]: Simplify (- 0) into 0 25.004 * [backup-simplify]: Simplify (+ 0 0) into 0 25.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 25.004 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 25.004 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.005 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 25.005 * [backup-simplify]: Simplify (+ 0 0) into 0 25.006 * [backup-simplify]: Simplify (+ 0 0) into 0 25.006 * [backup-simplify]: Simplify (+ 0 0) into 0 25.006 * [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)) 25.011 * [backup-simplify]: Simplify (+ 0) into 0 25.011 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.011 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.013 * [backup-simplify]: Simplify (+ 0 0) into 0 25.013 * [backup-simplify]: Simplify (+ 0) into 0 25.014 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.014 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.015 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.016 * [backup-simplify]: Simplify (+ 0 0) into 0 25.016 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 25.016 * [backup-simplify]: Simplify (+ 0) into 0 25.017 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.017 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.018 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.019 * [backup-simplify]: Simplify (- 0) into 0 25.019 * [backup-simplify]: Simplify (+ 0 0) into 0 25.019 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 25.020 * [backup-simplify]: Simplify (+ 0) into 0 25.020 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.021 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.021 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.022 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.022 * [backup-simplify]: Simplify (- 0) into 0 25.023 * [backup-simplify]: Simplify (+ 0 0) into 0 25.023 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 25.024 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.025 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0 25.025 * [backup-simplify]: Simplify (+ 0) into 0 25.026 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.026 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.027 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.027 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.028 * [backup-simplify]: Simplify (- 0) into 0 25.028 * [backup-simplify]: Simplify (+ 0 0) into 0 25.028 * [backup-simplify]: Simplify (+ 0) into 0 25.029 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.029 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.030 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.030 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.031 * [backup-simplify]: Simplify (+ 0 0) into 0 25.031 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 25.031 * [backup-simplify]: Simplify (+ 0) into 0 25.032 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.032 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.033 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.034 * [backup-simplify]: Simplify (- 0) into 0 25.034 * [backup-simplify]: Simplify (+ 0 0) into 0 25.034 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 25.035 * [backup-simplify]: Simplify (+ 0) into 0 25.035 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.035 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.036 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.037 * [backup-simplify]: Simplify (+ 0 0) into 0 25.038 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 25.038 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.040 * [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 25.040 * [backup-simplify]: Simplify (+ 0 0) into 0 25.041 * [backup-simplify]: Simplify (+ 0 0) into 0 25.041 * [backup-simplify]: Simplify (+ 0 0) into 0 25.041 * [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)) 25.042 * [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))) 25.042 * [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))) 25.043 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 0) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 25.043 * [backup-simplify]: Simplify (+ 0 (* (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)) 25.044 * [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))) 25.045 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (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))))) 25.045 * [backup-simplify]: Simplify (+ (* (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 (+ (* (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)))))) 25.046 * [backup-simplify]: Simplify (+ 0 (+ (* (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 (+ (* (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)))))) 25.048 * [backup-simplify]: Simplify (+ 0 (+ (* (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)))))) 25.048 * [backup-simplify]: Simplify (- (+ (* (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 (- (+ (* (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))))))) 25.050 * [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))) (- (+ (* (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 (- (+ (* (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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) 25.053 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 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 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 (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 25.053 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 25.053 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 25.053 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 25.053 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 25.053 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 25.053 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.053 * [backup-simplify]: Simplify -0.5 into -0.5 25.053 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 25.053 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 25.053 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.053 * [backup-simplify]: Simplify phi1 into phi1 25.053 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 25.053 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 25.053 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.053 * [backup-simplify]: Simplify phi2 into phi2 25.054 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 25.054 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 25.054 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 25.054 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 25.054 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 25.054 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 25.055 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 25.055 * [backup-simplify]: Simplify (- 0) into 0 25.055 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 25.055 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.055 * [backup-simplify]: Simplify 0 into 0 25.056 * [backup-simplify]: Simplify 1 into 1 25.056 * [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) 25.056 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 25.057 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 25.057 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 25.058 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 25.058 * [taylor]: Taking taylor expansion of 0 in lambda1 25.058 * [backup-simplify]: Simplify 0 into 0 25.058 * [taylor]: Taking taylor expansion of 0 in lambda1 25.058 * [backup-simplify]: Simplify 0 into 0 25.058 * [taylor]: Taking taylor expansion of 0 in lambda2 25.058 * [backup-simplify]: Simplify 0 into 0 25.058 * [taylor]: Taking taylor expansion of 0 in lambda2 25.059 * [backup-simplify]: Simplify 0 into 0 25.059 * [taylor]: Taking taylor expansion of 0 in lambda2 25.059 * [backup-simplify]: Simplify 0 into 0 25.059 * [taylor]: Taking taylor expansion of 0 in lambda2 25.059 * [backup-simplify]: Simplify 0 into 0 25.059 * [backup-simplify]: Simplify -1 into -1 25.061 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* (/ 1 (/ 1 (- phi1))) 1)))) (+ (* (- (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2)) (* (/ 1 (/ 1 (- lambda2))) (* (/ 1 (/ 1 (- lambda1))) (* 1 (/ 1 (- phi2)))))) (* (- (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2)) (* (/ 1 (/ 1 (- lambda2))) (* (/ 1 (/ 1 (- lambda1))) (* (/ 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)) 25.061 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1) 25.064 * [backup-simplify]: Simplify (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) 25.064 * [approximate]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in (phi2 phi1 lambda1 lambda2) around 0 25.064 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in lambda2 25.064 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda2 25.064 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in lambda2 25.064 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2 25.064 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 25.064 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 25.064 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 25.065 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.065 * [backup-simplify]: Simplify 0.5 into 0.5 25.065 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.065 * [backup-simplify]: Simplify phi2 into phi2 25.065 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.065 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.065 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.065 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 25.065 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 25.065 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 25.065 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2 25.065 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 25.065 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 25.065 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 25.065 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.065 * [backup-simplify]: Simplify 0.5 into 0.5 25.065 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.065 * [backup-simplify]: Simplify phi1 into phi1 25.066 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.066 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.066 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.066 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.066 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.066 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.066 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 25.066 * [taylor]: Taking taylor expansion of lambda1 in lambda2 25.066 * [backup-simplify]: Simplify lambda1 into lambda1 25.066 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in lambda2 25.066 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 25.066 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.066 * [backup-simplify]: Simplify phi2 into phi2 25.066 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda2 25.066 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 25.066 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 25.066 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 25.066 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 25.066 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.067 * [backup-simplify]: Simplify 0.5 into 0.5 25.067 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.067 * [backup-simplify]: Simplify phi2 into phi2 25.067 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.067 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.067 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.067 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 25.067 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 25.067 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 25.067 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 25.067 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 25.067 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.067 * [backup-simplify]: Simplify 0 into 0 25.067 * [backup-simplify]: Simplify 1 into 1 25.067 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 25.067 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 25.067 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 25.067 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.067 * [backup-simplify]: Simplify 0.5 into 0.5 25.067 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.068 * [backup-simplify]: Simplify phi1 into phi1 25.068 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.068 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.068 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.068 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.068 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.068 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.068 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda2 25.068 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 25.068 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 25.068 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 25.068 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 25.068 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.068 * [backup-simplify]: Simplify 0.5 into 0.5 25.068 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.068 * [backup-simplify]: Simplify phi2 into phi2 25.068 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.069 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.069 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.069 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 25.069 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.069 * [backup-simplify]: Simplify (- 0) into 0 25.070 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 25.070 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 25.070 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 25.070 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 25.070 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 25.070 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.070 * [backup-simplify]: Simplify 0.5 into 0.5 25.070 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.070 * [backup-simplify]: Simplify phi1 into phi1 25.070 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.070 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.070 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.070 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.070 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.071 * [backup-simplify]: Simplify (- 0) into 0 25.071 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.071 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 25.071 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.071 * [backup-simplify]: Simplify 0 into 0 25.071 * [backup-simplify]: Simplify 1 into 1 25.071 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda2 25.071 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 25.071 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.071 * [backup-simplify]: Simplify phi1 into phi1 25.071 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2 25.071 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 25.071 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 25.071 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 25.071 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.071 * [backup-simplify]: Simplify 0.5 into 0.5 25.071 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.071 * [backup-simplify]: Simplify phi2 into phi2 25.071 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.072 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.072 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.072 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 25.072 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.072 * [backup-simplify]: Simplify (- 0) into 0 25.072 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 25.072 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2 25.072 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 25.073 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 25.073 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 25.073 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.073 * [backup-simplify]: Simplify 0.5 into 0.5 25.073 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.073 * [backup-simplify]: Simplify phi1 into phi1 25.073 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.073 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.073 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.073 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.073 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.074 * [backup-simplify]: Simplify (- 0) into 0 25.074 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.074 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 25.074 * [taylor]: Taking taylor expansion of lambda1 in lambda2 25.074 * [backup-simplify]: Simplify lambda1 into lambda1 25.074 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 25.074 * [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 25.074 * [taylor]: Taking taylor expansion of 2 in lambda2 25.074 * [backup-simplify]: Simplify 2 into 2 25.074 * [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 25.074 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 25.074 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 25.074 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.074 * [backup-simplify]: Simplify 0.5 into 0.5 25.074 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.074 * [backup-simplify]: Simplify phi2 into phi2 25.074 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.074 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.075 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.075 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 25.075 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 25.075 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 25.075 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.075 * [backup-simplify]: Simplify 0.5 into 0.5 25.075 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.075 * [backup-simplify]: Simplify phi2 into phi2 25.075 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.075 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.075 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.075 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 25.075 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 25.076 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 25.076 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.076 * [backup-simplify]: Simplify 0.5 into 0.5 25.076 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.076 * [backup-simplify]: Simplify phi1 into phi1 25.076 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.076 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.076 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.076 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 25.076 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 25.076 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 25.076 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.076 * [backup-simplify]: Simplify 0.5 into 0.5 25.076 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.076 * [backup-simplify]: Simplify phi1 into phi1 25.076 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.076 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.076 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.076 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 25.077 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.077 * [backup-simplify]: Simplify 0 into 0 25.077 * [backup-simplify]: Simplify 1 into 1 25.077 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 25.077 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 25.077 * [taylor]: Taking taylor expansion of 2 in lambda2 25.077 * [backup-simplify]: Simplify 2 into 2 25.077 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 25.077 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.077 * [backup-simplify]: Simplify phi2 into phi2 25.077 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.077 * [backup-simplify]: Simplify phi1 into phi1 25.077 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 25.077 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda2 25.077 * [taylor]: Taking taylor expansion of 2 in lambda2 25.077 * [backup-simplify]: Simplify 2 into 2 25.077 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda2 25.077 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 25.077 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 25.077 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.077 * [backup-simplify]: Simplify 0.5 into 0.5 25.077 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.077 * [backup-simplify]: Simplify phi2 into phi2 25.077 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.077 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.078 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.078 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda2 25.078 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 25.078 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 25.078 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.078 * [backup-simplify]: Simplify 0.5 into 0.5 25.078 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.078 * [backup-simplify]: Simplify phi2 into phi2 25.078 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.078 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.078 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.078 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda2 25.078 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 25.078 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 25.078 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.078 * [backup-simplify]: Simplify 0.5 into 0.5 25.078 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.078 * [backup-simplify]: Simplify phi1 into phi1 25.078 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.078 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.078 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.078 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda2 25.079 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 25.079 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 25.079 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.079 * [backup-simplify]: Simplify 0.5 into 0.5 25.079 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.079 * [backup-simplify]: Simplify phi1 into phi1 25.079 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.079 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.079 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.079 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 25.079 * [taylor]: Taking taylor expansion of lambda1 in lambda2 25.079 * [backup-simplify]: Simplify lambda1 into lambda1 25.079 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 25.079 * [taylor]: Taking taylor expansion of 2 in lambda2 25.079 * [backup-simplify]: Simplify 2 into 2 25.079 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 25.079 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.079 * [backup-simplify]: Simplify 0 into 0 25.079 * [backup-simplify]: Simplify 1 into 1 25.079 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 25.079 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 25.079 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 25.079 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 25.079 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.079 * [backup-simplify]: Simplify 0.5 into 0.5 25.079 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 25.079 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.079 * [backup-simplify]: Simplify phi2 into phi2 25.079 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.080 * [backup-simplify]: Simplify phi1 into phi1 25.080 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 25.080 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 25.080 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 25.080 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 25.080 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 25.080 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 25.081 * [backup-simplify]: Simplify (- 0) into 0 25.081 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 25.081 * [taylor]: Taking taylor expansion of lambda1 in lambda2 25.081 * [backup-simplify]: Simplify lambda1 into lambda1 25.081 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2) 25.081 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 25.081 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.082 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) 25.082 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 25.082 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 25.082 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 25.082 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 25.083 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 25.083 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.083 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 25.083 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) 25.084 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 25.085 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2)) 25.086 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2)) 25.086 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))) into (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 25.088 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) 25.088 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 25.088 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 25.088 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 25.088 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.088 * [backup-simplify]: Simplify (- 0) into 0 25.088 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 25.088 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 25.089 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 25.089 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 25.089 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.089 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.089 * [backup-simplify]: Simplify (- 0) into 0 25.089 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.089 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.089 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.089 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.089 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.089 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2)) 25.090 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) 25.090 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 25.090 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 25.090 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) 25.090 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 25.091 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 25.091 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 25.091 * [backup-simplify]: Simplify (* 2 0) into 0 25.091 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) 0) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) 25.092 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) 25.092 * [backup-simplify]: Simplify (+ 0 (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) 25.093 * [backup-simplify]: Simplify (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) 25.094 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) 25.096 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) into (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) 25.096 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.096 * [backup-simplify]: Simplify (+ 0) into 0 25.097 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 25.097 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.097 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.098 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 25.098 * [backup-simplify]: Simplify (+ 0 0) into 0 25.098 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 25.098 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 25.098 * [backup-simplify]: Simplify (+ 0) into 0 25.099 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 25.099 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.100 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.100 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 25.100 * [backup-simplify]: Simplify (+ 0 0) into 0 25.100 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0 25.100 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 25.101 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 25.101 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 25.101 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.101 * [backup-simplify]: Simplify (+ 0) into 0 25.101 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.102 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.102 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 25.102 * [backup-simplify]: Simplify (- 0) into 0 25.103 * [backup-simplify]: Simplify (+ 0 0) into 0 25.103 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 25.103 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 25.103 * [backup-simplify]: Simplify (+ 0) into 0 25.104 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 25.104 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.104 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.105 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 25.105 * [backup-simplify]: Simplify (- 0) into 0 25.105 * [backup-simplify]: Simplify (+ 0 0) into 0 25.105 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 25.105 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 25.106 * [backup-simplify]: Simplify (+ 0 0) into 0 25.106 * [backup-simplify]: Simplify (+ 0 0) into 0 25.106 * [backup-simplify]: Simplify (+ 0 0) into 0 25.106 * [backup-simplify]: Simplify (+ 0 0) into 0 25.107 * [backup-simplify]: Simplify (+ 0 0) into 0 25.107 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 25.107 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 25.107 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.107 * [backup-simplify]: Simplify (+ 0) into 0 25.108 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 25.108 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.109 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 25.109 * [backup-simplify]: Simplify (+ 0 0) into 0 25.109 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0 25.110 * [backup-simplify]: Simplify (+ 0) into 0 25.110 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.110 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.111 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 25.111 * [backup-simplify]: Simplify (- 0) into 0 25.111 * [backup-simplify]: Simplify (+ 0 0) into 0 25.112 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 25.112 * [backup-simplify]: Simplify (+ 0) into 0 25.112 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 25.113 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.113 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 25.114 * [backup-simplify]: Simplify (+ 0 0) into 0 25.114 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0 25.114 * [backup-simplify]: Simplify (+ 0) into 0 25.115 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 25.115 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.116 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 25.116 * [backup-simplify]: Simplify (- 0) into 0 25.116 * [backup-simplify]: Simplify (+ 0 0) into 0 25.117 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0 25.118 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into 0 25.118 * [backup-simplify]: Simplify (+ 0) into 0 25.119 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 25.119 * [backup-simplify]: Simplify (+ 0 0) into 0 25.120 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 25.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.121 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 25.121 * [backup-simplify]: Simplify (- 0) into 0 25.122 * [backup-simplify]: Simplify (+ 0 0) into 0 25.122 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 25.122 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 25.123 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 25.124 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 25.124 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 25.124 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 25.125 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 25.125 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 25.126 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 25.129 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))))) into (* -1 (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))))) 25.129 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in lambda1 25.129 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda1 25.129 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in lambda1 25.129 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda1 25.129 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1 25.129 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 25.129 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 25.129 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.129 * [backup-simplify]: Simplify 0.5 into 0.5 25.129 * [taylor]: Taking taylor expansion of phi2 in lambda1 25.130 * [backup-simplify]: Simplify phi2 into phi2 25.130 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.130 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.130 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.130 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 25.130 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 25.130 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 25.130 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda1 25.130 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1 25.130 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 25.130 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 25.130 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.130 * [backup-simplify]: Simplify 0.5 into 0.5 25.130 * [taylor]: Taking taylor expansion of phi1 in lambda1 25.130 * [backup-simplify]: Simplify phi1 into phi1 25.130 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.130 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.131 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.131 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.131 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.131 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.131 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.131 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.131 * [backup-simplify]: Simplify 0 into 0 25.131 * [backup-simplify]: Simplify 1 into 1 25.131 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in lambda1 25.131 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 25.131 * [taylor]: Taking taylor expansion of phi2 in lambda1 25.131 * [backup-simplify]: Simplify phi2 into phi2 25.131 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda1 25.131 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda1 25.131 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1 25.131 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 25.131 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 25.131 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.131 * [backup-simplify]: Simplify 0.5 into 0.5 25.131 * [taylor]: Taking taylor expansion of phi2 in lambda1 25.132 * [backup-simplify]: Simplify phi2 into phi2 25.132 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.132 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.132 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.132 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 25.132 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 25.132 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 25.132 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda1 25.132 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.132 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.132 * [backup-simplify]: Simplify lambda2 into lambda2 25.132 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1 25.132 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 25.132 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 25.132 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.132 * [backup-simplify]: Simplify 0.5 into 0.5 25.132 * [taylor]: Taking taylor expansion of phi1 in lambda1 25.132 * [backup-simplify]: Simplify phi1 into phi1 25.132 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.133 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.133 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.133 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.133 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.133 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.133 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda1 25.133 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda1 25.133 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1 25.133 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 25.133 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 25.133 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.133 * [backup-simplify]: Simplify 0.5 into 0.5 25.133 * [taylor]: Taking taylor expansion of phi2 in lambda1 25.133 * [backup-simplify]: Simplify phi2 into phi2 25.133 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.133 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.133 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.134 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 25.134 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.134 * [backup-simplify]: Simplify (- 0) into 0 25.134 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 25.134 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda1 25.134 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1 25.134 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 25.135 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 25.135 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.135 * [backup-simplify]: Simplify 0.5 into 0.5 25.135 * [taylor]: Taking taylor expansion of phi1 in lambda1 25.135 * [backup-simplify]: Simplify phi1 into phi1 25.135 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.135 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.135 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.135 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.135 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.136 * [backup-simplify]: Simplify (- 0) into 0 25.136 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.136 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.136 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.136 * [backup-simplify]: Simplify lambda2 into lambda2 25.136 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda1 25.136 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 25.136 * [taylor]: Taking taylor expansion of phi1 in lambda1 25.136 * [backup-simplify]: Simplify phi1 into phi1 25.136 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda1 25.136 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1 25.136 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 25.136 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 25.136 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.136 * [backup-simplify]: Simplify 0.5 into 0.5 25.136 * [taylor]: Taking taylor expansion of phi2 in lambda1 25.136 * [backup-simplify]: Simplify phi2 into phi2 25.136 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.136 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.136 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.136 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 25.137 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.137 * [backup-simplify]: Simplify (- 0) into 0 25.137 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 25.137 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda1 25.137 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1 25.137 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 25.137 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 25.137 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.137 * [backup-simplify]: Simplify 0.5 into 0.5 25.137 * [taylor]: Taking taylor expansion of phi1 in lambda1 25.137 * [backup-simplify]: Simplify phi1 into phi1 25.137 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.138 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.138 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.138 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.138 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.138 * [backup-simplify]: Simplify (- 0) into 0 25.138 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.138 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.138 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.138 * [backup-simplify]: Simplify 0 into 0 25.138 * [backup-simplify]: Simplify 1 into 1 25.139 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 25.139 * [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 25.139 * [taylor]: Taking taylor expansion of 2 in lambda1 25.139 * [backup-simplify]: Simplify 2 into 2 25.139 * [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 25.139 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 25.139 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 25.139 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.139 * [backup-simplify]: Simplify 0.5 into 0.5 25.139 * [taylor]: Taking taylor expansion of phi2 in lambda1 25.139 * [backup-simplify]: Simplify phi2 into phi2 25.139 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.139 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.139 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.139 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda1 25.139 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 25.139 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 25.139 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.139 * [backup-simplify]: Simplify 0.5 into 0.5 25.139 * [taylor]: Taking taylor expansion of phi2 in lambda1 25.139 * [backup-simplify]: Simplify phi2 into phi2 25.139 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.140 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.140 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.140 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda1 25.140 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 25.140 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 25.140 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.140 * [backup-simplify]: Simplify 0.5 into 0.5 25.140 * [taylor]: Taking taylor expansion of phi1 in lambda1 25.140 * [backup-simplify]: Simplify phi1 into phi1 25.140 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.140 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.140 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.140 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda1 25.140 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 25.140 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 25.140 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.140 * [backup-simplify]: Simplify 0.5 into 0.5 25.140 * [taylor]: Taking taylor expansion of phi1 in lambda1 25.140 * [backup-simplify]: Simplify phi1 into phi1 25.140 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.141 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.141 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.141 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.141 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.141 * [backup-simplify]: Simplify lambda2 into lambda2 25.141 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 25.141 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 25.141 * [taylor]: Taking taylor expansion of 2 in lambda1 25.141 * [backup-simplify]: Simplify 2 into 2 25.141 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 25.141 * [taylor]: Taking taylor expansion of phi2 in lambda1 25.141 * [backup-simplify]: Simplify phi2 into phi2 25.141 * [taylor]: Taking taylor expansion of phi1 in lambda1 25.141 * [backup-simplify]: Simplify phi1 into phi1 25.141 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 25.141 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda1 25.141 * [taylor]: Taking taylor expansion of 2 in lambda1 25.141 * [backup-simplify]: Simplify 2 into 2 25.141 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda1 25.141 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 25.141 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 25.141 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.141 * [backup-simplify]: Simplify 0.5 into 0.5 25.141 * [taylor]: Taking taylor expansion of phi2 in lambda1 25.141 * [backup-simplify]: Simplify phi2 into phi2 25.141 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.142 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.142 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.142 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda1 25.142 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 25.142 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 25.142 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.142 * [backup-simplify]: Simplify 0.5 into 0.5 25.142 * [taylor]: Taking taylor expansion of phi2 in lambda1 25.142 * [backup-simplify]: Simplify phi2 into phi2 25.142 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.142 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.142 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.142 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda1 25.142 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 25.142 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 25.142 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.142 * [backup-simplify]: Simplify 0.5 into 0.5 25.142 * [taylor]: Taking taylor expansion of phi1 in lambda1 25.142 * [backup-simplify]: Simplify phi1 into phi1 25.142 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.142 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.143 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.143 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda1 25.143 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 25.143 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 25.143 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.143 * [backup-simplify]: Simplify 0.5 into 0.5 25.143 * [taylor]: Taking taylor expansion of phi1 in lambda1 25.143 * [backup-simplify]: Simplify phi1 into phi1 25.143 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.143 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.143 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.143 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.143 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.143 * [backup-simplify]: Simplify 0 into 0 25.143 * [backup-simplify]: Simplify 1 into 1 25.143 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 25.143 * [taylor]: Taking taylor expansion of 2 in lambda1 25.143 * [backup-simplify]: Simplify 2 into 2 25.143 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 25.143 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.143 * [backup-simplify]: Simplify lambda2 into lambda2 25.143 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 25.143 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 25.143 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 25.143 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 25.143 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.143 * [backup-simplify]: Simplify 0.5 into 0.5 25.144 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 25.144 * [taylor]: Taking taylor expansion of phi2 in lambda1 25.144 * [backup-simplify]: Simplify phi2 into phi2 25.144 * [taylor]: Taking taylor expansion of phi1 in lambda1 25.144 * [backup-simplify]: Simplify phi1 into phi1 25.144 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 25.144 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 25.144 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 25.144 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 25.144 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 25.144 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 25.145 * [backup-simplify]: Simplify (- 0) into 0 25.145 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 25.145 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.145 * [backup-simplify]: Simplify 0 into 0 25.145 * [backup-simplify]: Simplify 1 into 1 25.145 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 25.145 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2) 25.145 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.146 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 25.146 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 25.146 * [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))) 25.146 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 25.147 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 25.147 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.147 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 25.147 * [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))) 25.147 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 25.148 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 25.148 * [backup-simplify]: Simplify (+ (* (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)) 25.150 * [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))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) 25.151 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) 25.153 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) into (+ (* (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 phi2 2) (pow phi1 2)))) 25.153 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 25.153 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.154 * [backup-simplify]: Simplify (- 0) into 0 25.154 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 25.154 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 25.154 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 25.154 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 25.154 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.155 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.155 * [backup-simplify]: Simplify (- 0) into 0 25.155 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.155 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.155 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.155 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.156 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.156 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 25.156 * [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))) 25.156 * [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))))) 25.157 * [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))))) 25.157 * [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)))))) 25.157 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 25.157 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 25.158 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 25.158 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 25.158 * [backup-simplify]: Simplify (* lambda2 0) into 0 25.159 * [backup-simplify]: Simplify (* 2 0) into 0 25.159 * [backup-simplify]: Simplify (+ 0 0) into 0 25.159 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 25.160 * [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))) 25.161 * [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)))) 25.164 * [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 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 (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)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))) 25.167 * [backup-simplify]: Simplify (sqrt (- (+ (* (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)))))) (+ (* 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 (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) 25.167 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 25.168 * [backup-simplify]: Simplify (+ 0) into 0 25.169 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 25.175 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.177 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.177 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 25.178 * [backup-simplify]: Simplify (+ 0 0) into 0 25.178 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 25.178 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.178 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (sin (* 0.5 phi1)) 2))) into 0 25.179 * [backup-simplify]: Simplify (+ 0) into 0 25.179 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 25.180 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.181 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 25.181 * [backup-simplify]: Simplify (+ 0 0) into 0 25.182 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0 25.182 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 25.182 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.183 * [backup-simplify]: Simplify (+ 0) into 0 25.183 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.184 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.185 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 25.185 * [backup-simplify]: Simplify (- 0) into 0 25.186 * [backup-simplify]: Simplify (+ 0 0) into 0 25.186 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 25.186 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 25.187 * [backup-simplify]: Simplify (+ 0) into 0 25.187 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 25.188 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.189 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 25.189 * [backup-simplify]: Simplify (- 0) into 0 25.190 * [backup-simplify]: Simplify (+ 0 0) into 0 25.190 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 25.191 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 25.191 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 25.191 * [backup-simplify]: Simplify (+ 0 0) into 0 25.191 * [backup-simplify]: Simplify (+ 0 0) into 0 25.192 * [backup-simplify]: Simplify (+ 0 0) into 0 25.192 * [backup-simplify]: Simplify (+ 0 0) into 0 25.192 * [backup-simplify]: Simplify (+ 0 0) into 0 25.193 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.193 * [backup-simplify]: Simplify (+ 0) into 0 25.194 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 25.194 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.195 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 25.196 * [backup-simplify]: Simplify (+ 0 0) into 0 25.196 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 25.196 * [backup-simplify]: Simplify (+ 0) into 0 25.197 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.197 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.199 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 25.199 * [backup-simplify]: Simplify (- 0) into 0 25.199 * [backup-simplify]: Simplify (+ 0 0) into 0 25.200 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 25.200 * [backup-simplify]: Simplify (+ 0) into 0 25.200 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 25.201 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.201 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.201 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 25.202 * [backup-simplify]: Simplify (+ 0 0) into 0 25.202 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0 25.202 * [backup-simplify]: Simplify (+ 0) into 0 25.202 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 25.203 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.203 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.203 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 25.204 * [backup-simplify]: Simplify (- 0) into 0 25.204 * [backup-simplify]: Simplify (+ 0 0) into 0 25.204 * [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 25.205 * [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 25.205 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 25.205 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 25.205 * [backup-simplify]: Simplify (+ 0) into 0 25.206 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 25.206 * [backup-simplify]: Simplify (+ 0 0) into 0 25.206 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 25.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.207 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 25.207 * [backup-simplify]: Simplify (- 0) into 0 25.207 * [backup-simplify]: Simplify (+ 0 0) into 0 25.208 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 25.208 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 25.209 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 25.209 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 25.209 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 25.209 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 25.210 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 25.210 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 25.210 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 25.212 * [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 phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 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 (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 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)))) 25.212 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi1 25.212 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi1 25.212 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in phi1 25.212 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 25.212 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 25.212 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 25.212 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 25.212 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.212 * [backup-simplify]: Simplify 0.5 into 0.5 25.212 * [taylor]: Taking taylor expansion of phi2 in phi1 25.212 * [backup-simplify]: Simplify phi2 into phi2 25.212 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.212 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.212 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.212 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 25.212 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 25.212 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 25.212 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.212 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 25.212 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.212 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.213 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.213 * [backup-simplify]: Simplify 0.5 into 0.5 25.213 * [taylor]: Taking taylor expansion of phi1 in phi1 25.213 * [backup-simplify]: Simplify 0 into 0 25.213 * [backup-simplify]: Simplify 1 into 1 25.213 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.214 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.215 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.215 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.215 * [backup-simplify]: Simplify lambda1 into lambda1 25.215 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in phi1 25.215 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 25.215 * [taylor]: Taking taylor expansion of phi2 in phi1 25.215 * [backup-simplify]: Simplify phi2 into phi2 25.215 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi1 25.215 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1 25.216 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 25.216 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 25.216 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 25.216 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.216 * [backup-simplify]: Simplify 0.5 into 0.5 25.216 * [taylor]: Taking taylor expansion of phi2 in phi1 25.216 * [backup-simplify]: Simplify phi2 into phi2 25.216 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.216 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.216 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.216 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 25.216 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 25.216 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 25.216 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi1 25.216 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.216 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.216 * [backup-simplify]: Simplify lambda2 into lambda2 25.216 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 25.216 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.216 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.216 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.216 * [backup-simplify]: Simplify 0.5 into 0.5 25.216 * [taylor]: Taking taylor expansion of phi1 in phi1 25.216 * [backup-simplify]: Simplify 0 into 0 25.216 * [backup-simplify]: Simplify 1 into 1 25.216 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.217 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.219 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi1 25.219 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 25.219 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 25.219 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 25.219 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 25.219 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.219 * [backup-simplify]: Simplify 0.5 into 0.5 25.219 * [taylor]: Taking taylor expansion of phi2 in phi1 25.219 * [backup-simplify]: Simplify phi2 into phi2 25.219 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.219 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.219 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.219 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 25.219 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.219 * [backup-simplify]: Simplify (- 0) into 0 25.220 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 25.220 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.220 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.220 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.220 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.220 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.220 * [backup-simplify]: Simplify 0.5 into 0.5 25.220 * [taylor]: Taking taylor expansion of phi1 in phi1 25.220 * [backup-simplify]: Simplify 0 into 0 25.220 * [backup-simplify]: Simplify 1 into 1 25.220 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.221 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.221 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.221 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.221 * [backup-simplify]: Simplify lambda2 into lambda2 25.221 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi1 25.221 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.221 * [taylor]: Taking taylor expansion of phi1 in phi1 25.221 * [backup-simplify]: Simplify 0 into 0 25.221 * [backup-simplify]: Simplify 1 into 1 25.221 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 25.221 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 25.221 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 25.221 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 25.221 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.221 * [backup-simplify]: Simplify 0.5 into 0.5 25.221 * [taylor]: Taking taylor expansion of phi2 in phi1 25.221 * [backup-simplify]: Simplify phi2 into phi2 25.221 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.221 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.221 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.221 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 25.221 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.222 * [backup-simplify]: Simplify (- 0) into 0 25.222 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 25.222 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.222 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.222 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.222 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.222 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.222 * [backup-simplify]: Simplify 0.5 into 0.5 25.222 * [taylor]: Taking taylor expansion of phi1 in phi1 25.222 * [backup-simplify]: Simplify 0 into 0 25.222 * [backup-simplify]: Simplify 1 into 1 25.222 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.223 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.223 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.223 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.223 * [backup-simplify]: Simplify lambda1 into lambda1 25.223 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 25.223 * [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 25.223 * [taylor]: Taking taylor expansion of 2 in phi1 25.223 * [backup-simplify]: Simplify 2 into 2 25.223 * [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 25.223 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 25.223 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 25.223 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.223 * [backup-simplify]: Simplify 0.5 into 0.5 25.223 * [taylor]: Taking taylor expansion of phi2 in phi1 25.223 * [backup-simplify]: Simplify phi2 into phi2 25.223 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.223 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.223 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.223 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 25.223 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 25.223 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 25.223 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.223 * [backup-simplify]: Simplify 0.5 into 0.5 25.224 * [taylor]: Taking taylor expansion of phi2 in phi1 25.224 * [backup-simplify]: Simplify phi2 into phi2 25.224 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.224 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.224 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.224 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 25.224 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.224 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.224 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.224 * [backup-simplify]: Simplify 0.5 into 0.5 25.224 * [taylor]: Taking taylor expansion of phi1 in phi1 25.224 * [backup-simplify]: Simplify 0 into 0 25.224 * [backup-simplify]: Simplify 1 into 1 25.224 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.225 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.225 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 25.225 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.225 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.225 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.225 * [backup-simplify]: Simplify 0.5 into 0.5 25.225 * [taylor]: Taking taylor expansion of phi1 in phi1 25.225 * [backup-simplify]: Simplify 0 into 0 25.225 * [backup-simplify]: Simplify 1 into 1 25.225 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.226 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.226 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.226 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.226 * [backup-simplify]: Simplify lambda2 into lambda2 25.226 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 25.226 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 25.226 * [taylor]: Taking taylor expansion of 2 in phi1 25.226 * [backup-simplify]: Simplify 2 into 2 25.226 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 25.226 * [taylor]: Taking taylor expansion of phi2 in phi1 25.226 * [backup-simplify]: Simplify phi2 into phi2 25.226 * [taylor]: Taking taylor expansion of phi1 in phi1 25.226 * [backup-simplify]: Simplify 0 into 0 25.226 * [backup-simplify]: Simplify 1 into 1 25.226 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 25.226 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi1 25.226 * [taylor]: Taking taylor expansion of 2 in phi1 25.226 * [backup-simplify]: Simplify 2 into 2 25.226 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi1 25.227 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 25.227 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 25.227 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.227 * [backup-simplify]: Simplify 0.5 into 0.5 25.227 * [taylor]: Taking taylor expansion of phi2 in phi1 25.227 * [backup-simplify]: Simplify phi2 into phi2 25.227 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.227 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.227 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.227 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 25.227 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 25.227 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 25.227 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.227 * [backup-simplify]: Simplify 0.5 into 0.5 25.227 * [taylor]: Taking taylor expansion of phi2 in phi1 25.227 * [backup-simplify]: Simplify phi2 into phi2 25.227 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.227 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.227 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.227 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 25.227 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.227 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.227 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.227 * [backup-simplify]: Simplify 0.5 into 0.5 25.227 * [taylor]: Taking taylor expansion of phi1 in phi1 25.227 * [backup-simplify]: Simplify 0 into 0 25.227 * [backup-simplify]: Simplify 1 into 1 25.227 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.229 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.229 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 25.229 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.229 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.229 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.229 * [backup-simplify]: Simplify 0.5 into 0.5 25.229 * [taylor]: Taking taylor expansion of phi1 in phi1 25.230 * [backup-simplify]: Simplify 0 into 0 25.230 * [backup-simplify]: Simplify 1 into 1 25.230 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.231 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.231 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.231 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.232 * [backup-simplify]: Simplify lambda1 into lambda1 25.232 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 25.232 * [taylor]: Taking taylor expansion of 2 in phi1 25.232 * [backup-simplify]: Simplify 2 into 2 25.232 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 25.232 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.232 * [backup-simplify]: Simplify lambda2 into lambda2 25.232 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 25.232 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 25.232 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 25.232 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 25.232 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.232 * [backup-simplify]: Simplify 0.5 into 0.5 25.232 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 25.232 * [taylor]: Taking taylor expansion of phi2 in phi1 25.232 * [backup-simplify]: Simplify phi2 into phi2 25.232 * [taylor]: Taking taylor expansion of phi1 in phi1 25.232 * [backup-simplify]: Simplify 0 into 0 25.232 * [backup-simplify]: Simplify 1 into 1 25.232 * [backup-simplify]: Simplify (+ phi2 0) into phi2 25.232 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 25.232 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 25.232 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 25.233 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 25.233 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.233 * [backup-simplify]: Simplify (- 0) into 0 25.233 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 25.233 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.233 * [backup-simplify]: Simplify lambda1 into lambda1 25.233 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 25.233 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 25.234 * [backup-simplify]: Simplify (* 1 1) into 1 25.234 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.234 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.234 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 25.235 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 25.235 * [backup-simplify]: Simplify (* 1 1) into 1 25.235 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.235 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.235 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 25.236 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 25.236 * [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))) 25.236 * [backup-simplify]: Simplify (+ 0 (+ (* (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))) 25.237 * [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))) 25.238 * [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))) 25.238 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 25.238 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.238 * [backup-simplify]: Simplify (- 0) into 0 25.238 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 25.238 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 25.238 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 25.238 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 25.238 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.238 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 25.239 * [backup-simplify]: Simplify (* 1 0) into 0 25.239 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.239 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 25.239 * [backup-simplify]: Simplify (* 2 0) into 0 25.239 * [backup-simplify]: Simplify (* phi2 0) into 0 25.239 * [backup-simplify]: Simplify (* 2 0) into 0 25.239 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 25.239 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.240 * [backup-simplify]: Simplify (- 0) into 0 25.240 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 25.240 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 25.240 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 25.240 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 25.240 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.240 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 25.240 * [backup-simplify]: Simplify (* 1 0) into 0 25.240 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 25.240 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 25.241 * [backup-simplify]: Simplify (* 2 0) into 0 25.241 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 25.241 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 25.241 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 25.241 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 25.241 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 25.242 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 25.242 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 25.242 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 25.243 * [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)))) 25.243 * [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))))) 25.244 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 25.244 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.244 * [backup-simplify]: Simplify (+ 0) into 0 25.244 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.245 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 25.245 * [backup-simplify]: Simplify (+ 0) into 0 25.245 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 25.245 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.246 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.246 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 25.246 * [backup-simplify]: Simplify (- 0) into 0 25.247 * [backup-simplify]: Simplify (+ 0 0) into 0 25.247 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 25.247 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (pow lambda2 2))) into 0 25.247 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.247 * [backup-simplify]: Simplify (+ 0) into 0 25.248 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.248 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 25.248 * [backup-simplify]: Simplify (+ 0) into 0 25.249 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 25.249 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.249 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.250 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 25.250 * [backup-simplify]: Simplify (- 0) into 0 25.250 * [backup-simplify]: Simplify (+ 0 0) into 0 25.250 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 25.250 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (pow lambda1 2))) into 0 25.251 * [backup-simplify]: Simplify (+ 0 0) into 0 25.251 * [backup-simplify]: Simplify (+ 0 0) into 0 25.251 * [backup-simplify]: Simplify (+ 0 0) into 0 25.251 * [backup-simplify]: Simplify (+ 0 0) into 0 25.252 * [backup-simplify]: Simplify (+ 0 0) into 0 25.252 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.253 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 25.254 * [backup-simplify]: Simplify (+ 0) into 0 25.254 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 25.254 * [backup-simplify]: Simplify (+ 0) into 0 25.255 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 25.255 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.256 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 25.256 * [backup-simplify]: Simplify (+ 0 0) into 0 25.256 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda2 2))) 25.256 * [backup-simplify]: Simplify (+ 0) into 0 25.257 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 25.257 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.258 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 25.258 * [backup-simplify]: Simplify (- 0) into 0 25.258 * [backup-simplify]: Simplify (+ 0 0) into 0 25.259 * [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)))) 25.259 * [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)))) 25.260 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 25.260 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 25.260 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.262 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 25.262 * [backup-simplify]: Simplify (+ 0) into 0 25.262 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 25.263 * [backup-simplify]: Simplify (+ 0) into 0 25.263 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 25.263 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.264 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.264 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 25.265 * [backup-simplify]: Simplify (+ 0 0) into 0 25.265 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda1 2))) 25.266 * [backup-simplify]: Simplify (+ 0) into 0 25.266 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 25.267 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 25.267 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.268 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 25.268 * [backup-simplify]: Simplify (- 0) into 0 25.269 * [backup-simplify]: Simplify (+ 0 0) into 0 25.269 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) 25.270 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) 25.270 * [backup-simplify]: Simplify (+ 0) into 0 25.271 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 25.271 * [backup-simplify]: Simplify (+ 0 1) into 1 25.272 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 25.274 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.275 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 25.275 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 25.275 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 25.275 * [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))))) 25.276 * [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)))) 25.276 * [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))))) 25.277 * [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))))) 25.278 * [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)))))) into (- (* 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))))) 25.278 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 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)))))) into (- (+ (* 2 phi2) (* 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))))) 25.280 * [backup-simplify]: Simplify (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (- (+ (* 2 phi2) (* 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)))))) into (- (+ (* 2 phi2) (+ (* 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))))) 25.281 * [backup-simplify]: Simplify (- (- (+ (* 2 phi2) (+ (* 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)))))) 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)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))))) 25.281 * [backup-simplify]: Simplify (+ 0 (- (* 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)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))))) 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)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))))) 25.283 * [backup-simplify]: Simplify (/ (- (* 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)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 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 (* (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)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (+ (* 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))))))))) 25.283 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi2 25.283 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi2 25.283 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in phi2 25.283 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 25.283 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 25.283 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 25.283 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.283 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.283 * [backup-simplify]: Simplify 0.5 into 0.5 25.283 * [taylor]: Taking taylor expansion of phi2 in phi2 25.283 * [backup-simplify]: Simplify 0 into 0 25.283 * [backup-simplify]: Simplify 1 into 1 25.284 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.285 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.286 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.286 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 25.286 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 25.286 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 25.286 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.286 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.286 * [backup-simplify]: Simplify 0.5 into 0.5 25.286 * [taylor]: Taking taylor expansion of phi1 in phi2 25.286 * [backup-simplify]: Simplify phi1 into phi1 25.286 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.286 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.286 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.287 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.287 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.287 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.287 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 25.287 * [taylor]: Taking taylor expansion of lambda1 in phi2 25.287 * [backup-simplify]: Simplify lambda1 into lambda1 25.287 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in phi2 25.287 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 25.287 * [taylor]: Taking taylor expansion of phi2 in phi2 25.287 * [backup-simplify]: Simplify 0 into 0 25.287 * [backup-simplify]: Simplify 1 into 1 25.287 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2 25.287 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 25.287 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 25.287 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 25.287 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.287 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.287 * [backup-simplify]: Simplify 0.5 into 0.5 25.287 * [taylor]: Taking taylor expansion of phi2 in phi2 25.287 * [backup-simplify]: Simplify 0 into 0 25.287 * [backup-simplify]: Simplify 1 into 1 25.292 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.293 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.295 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 25.295 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 25.295 * [taylor]: Taking taylor expansion of lambda2 in phi2 25.295 * [backup-simplify]: Simplify lambda2 into lambda2 25.295 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 25.295 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 25.295 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.295 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.295 * [backup-simplify]: Simplify 0.5 into 0.5 25.295 * [taylor]: Taking taylor expansion of phi1 in phi2 25.295 * [backup-simplify]: Simplify phi1 into phi1 25.295 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.295 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.295 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.295 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.295 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.296 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.296 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2 25.296 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 25.296 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 25.296 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 25.296 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.296 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.296 * [backup-simplify]: Simplify 0.5 into 0.5 25.296 * [taylor]: Taking taylor expansion of phi2 in phi2 25.296 * [backup-simplify]: Simplify 0 into 0 25.296 * [backup-simplify]: Simplify 1 into 1 25.296 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.297 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.297 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 25.297 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 25.297 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 25.297 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.297 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.297 * [backup-simplify]: Simplify 0.5 into 0.5 25.297 * [taylor]: Taking taylor expansion of phi1 in phi2 25.297 * [backup-simplify]: Simplify phi1 into phi1 25.297 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.297 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.297 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.297 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.297 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.298 * [backup-simplify]: Simplify (- 0) into 0 25.298 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.298 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 25.298 * [taylor]: Taking taylor expansion of lambda2 in phi2 25.298 * [backup-simplify]: Simplify lambda2 into lambda2 25.298 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2 25.298 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 25.298 * [taylor]: Taking taylor expansion of phi1 in phi2 25.298 * [backup-simplify]: Simplify phi1 into phi1 25.298 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 25.298 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 25.298 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 25.298 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.298 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.298 * [backup-simplify]: Simplify 0.5 into 0.5 25.298 * [taylor]: Taking taylor expansion of phi2 in phi2 25.298 * [backup-simplify]: Simplify 0 into 0 25.298 * [backup-simplify]: Simplify 1 into 1 25.298 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.300 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.300 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 25.300 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 25.300 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 25.300 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.300 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.300 * [backup-simplify]: Simplify 0.5 into 0.5 25.300 * [taylor]: Taking taylor expansion of phi1 in phi2 25.300 * [backup-simplify]: Simplify phi1 into phi1 25.300 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.301 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.301 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.301 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.301 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.301 * [backup-simplify]: Simplify (- 0) into 0 25.301 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.301 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 25.301 * [taylor]: Taking taylor expansion of lambda1 in phi2 25.302 * [backup-simplify]: Simplify lambda1 into lambda1 25.302 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 25.302 * [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 25.302 * [taylor]: Taking taylor expansion of 2 in phi2 25.302 * [backup-simplify]: Simplify 2 into 2 25.302 * [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 25.302 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 25.302 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.302 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.302 * [backup-simplify]: Simplify 0.5 into 0.5 25.302 * [taylor]: Taking taylor expansion of phi2 in phi2 25.302 * [backup-simplify]: Simplify 0 into 0 25.302 * [backup-simplify]: Simplify 1 into 1 25.302 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.304 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.304 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 25.304 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 25.304 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.304 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.304 * [backup-simplify]: Simplify 0.5 into 0.5 25.304 * [taylor]: Taking taylor expansion of phi2 in phi2 25.304 * [backup-simplify]: Simplify 0 into 0 25.304 * [backup-simplify]: Simplify 1 into 1 25.304 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.306 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.306 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 25.306 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 25.306 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.306 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.306 * [backup-simplify]: Simplify 0.5 into 0.5 25.306 * [taylor]: Taking taylor expansion of phi1 in phi2 25.306 * [backup-simplify]: Simplify phi1 into phi1 25.306 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.306 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.306 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.306 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 25.306 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 25.306 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.306 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.306 * [backup-simplify]: Simplify 0.5 into 0.5 25.306 * [taylor]: Taking taylor expansion of phi1 in phi2 25.306 * [backup-simplify]: Simplify phi1 into phi1 25.306 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.306 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.307 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.307 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 25.307 * [taylor]: Taking taylor expansion of lambda2 in phi2 25.307 * [backup-simplify]: Simplify lambda2 into lambda2 25.307 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 25.307 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 25.307 * [taylor]: Taking taylor expansion of 2 in phi2 25.307 * [backup-simplify]: Simplify 2 into 2 25.307 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 25.307 * [taylor]: Taking taylor expansion of phi2 in phi2 25.307 * [backup-simplify]: Simplify 0 into 0 25.307 * [backup-simplify]: Simplify 1 into 1 25.307 * [taylor]: Taking taylor expansion of phi1 in phi2 25.307 * [backup-simplify]: Simplify phi1 into phi1 25.307 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 25.307 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2 25.307 * [taylor]: Taking taylor expansion of 2 in phi2 25.307 * [backup-simplify]: Simplify 2 into 2 25.307 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2 25.307 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 25.307 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.307 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.307 * [backup-simplify]: Simplify 0.5 into 0.5 25.307 * [taylor]: Taking taylor expansion of phi2 in phi2 25.307 * [backup-simplify]: Simplify 0 into 0 25.307 * [backup-simplify]: Simplify 1 into 1 25.308 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.309 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.309 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2 25.309 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 25.309 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.309 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.309 * [backup-simplify]: Simplify 0.5 into 0.5 25.309 * [taylor]: Taking taylor expansion of phi2 in phi2 25.309 * [backup-simplify]: Simplify 0 into 0 25.309 * [backup-simplify]: Simplify 1 into 1 25.310 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.311 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.311 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2 25.311 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 25.311 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.311 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.311 * [backup-simplify]: Simplify 0.5 into 0.5 25.311 * [taylor]: Taking taylor expansion of phi1 in phi2 25.311 * [backup-simplify]: Simplify phi1 into phi1 25.311 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.311 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.311 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.311 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2 25.312 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 25.312 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.312 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.312 * [backup-simplify]: Simplify 0.5 into 0.5 25.312 * [taylor]: Taking taylor expansion of phi1 in phi2 25.312 * [backup-simplify]: Simplify phi1 into phi1 25.312 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.312 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.312 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.312 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 25.312 * [taylor]: Taking taylor expansion of lambda1 in phi2 25.312 * [backup-simplify]: Simplify lambda1 into lambda1 25.312 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 25.312 * [taylor]: Taking taylor expansion of 2 in phi2 25.312 * [backup-simplify]: Simplify 2 into 2 25.312 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 25.312 * [taylor]: Taking taylor expansion of lambda2 in phi2 25.312 * [backup-simplify]: Simplify lambda2 into lambda2 25.312 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 25.312 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 25.312 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 25.312 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 25.312 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.312 * [backup-simplify]: Simplify 0.5 into 0.5 25.312 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 25.312 * [taylor]: Taking taylor expansion of phi2 in phi2 25.312 * [backup-simplify]: Simplify 0 into 0 25.312 * [backup-simplify]: Simplify 1 into 1 25.312 * [taylor]: Taking taylor expansion of phi1 in phi2 25.312 * [backup-simplify]: Simplify phi1 into phi1 25.312 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 25.313 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.313 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.313 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.313 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.313 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.313 * [backup-simplify]: Simplify (- 0) into 0 25.313 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.313 * [taylor]: Taking taylor expansion of lambda1 in phi2 25.313 * [backup-simplify]: Simplify lambda1 into lambda1 25.314 * [backup-simplify]: Simplify (* 1 1) into 1 25.314 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 25.314 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.314 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 25.315 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 25.315 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 25.315 * [backup-simplify]: Simplify (* 1 1) into 1 25.315 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 25.315 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.315 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 25.316 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 25.316 * [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)) 25.317 * [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))) 25.318 * [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))) 25.319 * [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))) 25.320 * [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))) 25.320 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.320 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.320 * [backup-simplify]: Simplify (- 0) into 0 25.321 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.321 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.321 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.321 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.321 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.321 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 25.321 * [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))) 25.322 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 25.322 * [backup-simplify]: Simplify (* 1 0) into 0 25.322 * [backup-simplify]: Simplify (* 2 0) into 0 25.323 * [backup-simplify]: Simplify (* 0 phi1) into 0 25.323 * [backup-simplify]: Simplify (* 2 0) into 0 25.323 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.323 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.324 * [backup-simplify]: Simplify (- 0) into 0 25.324 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.324 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.324 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.324 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.324 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.324 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2)) 25.324 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) 25.325 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 25.325 * [backup-simplify]: Simplify (* 1 0) into 0 25.326 * [backup-simplify]: Simplify (* 2 0) into 0 25.326 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 25.326 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 25.326 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 25.326 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 25.327 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 25.327 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 25.327 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 25.328 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 25.329 * [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)))) 25.330 * [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))))) 25.330 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.331 * [backup-simplify]: Simplify (+ 0) into 0 25.331 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.332 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.333 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 25.333 * [backup-simplify]: Simplify (- 0) into 0 25.334 * [backup-simplify]: Simplify (+ 0 0) into 0 25.334 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 25.334 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 25.334 * [backup-simplify]: Simplify (+ 0) into 0 25.335 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.336 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 25.336 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 25.336 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.336 * [backup-simplify]: Simplify (+ 0) into 0 25.337 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.337 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.339 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 25.339 * [backup-simplify]: Simplify (- 0) into 0 25.340 * [backup-simplify]: Simplify (+ 0 0) into 0 25.340 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 25.340 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 25.340 * [backup-simplify]: Simplify (+ 0) into 0 25.341 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.342 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 25.342 * [backup-simplify]: Simplify (+ 0 0) into 0 25.343 * [backup-simplify]: Simplify (+ 0 0) into 0 25.343 * [backup-simplify]: Simplify (+ 0 0) into 0 25.343 * [backup-simplify]: Simplify (+ 0 0) into 0 25.344 * [backup-simplify]: Simplify (+ 0 0) into 0 25.344 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.344 * [backup-simplify]: Simplify (+ 0) into 0 25.345 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 25.345 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.346 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.346 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 25.347 * [backup-simplify]: Simplify (+ 0 0) into 0 25.347 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 25.347 * [backup-simplify]: Simplify (+ 0) into 0 25.348 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.348 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.350 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.350 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 25.350 * [backup-simplify]: Simplify (- 0) into 0 25.351 * [backup-simplify]: Simplify (+ 0 0) into 0 25.351 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 25.353 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.353 * [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)))) 25.353 * [backup-simplify]: Simplify (+ 0) into 0 25.354 * [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)))) 25.355 * [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)))) 25.355 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 25.355 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 25.355 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.355 * [backup-simplify]: Simplify (+ 0) into 0 25.356 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 25.356 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.357 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.357 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 25.357 * [backup-simplify]: Simplify (+ 0 0) into 0 25.357 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0 25.357 * [backup-simplify]: Simplify (+ 0) into 0 25.358 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.358 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.359 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 25.359 * [backup-simplify]: Simplify (- 0) into 0 25.359 * [backup-simplify]: Simplify (+ 0 0) into 0 25.359 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 25.361 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.361 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 25.362 * [backup-simplify]: Simplify (+ 0) into 0 25.362 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 25.363 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 25.363 * [backup-simplify]: Simplify (+ 0) into 0 25.363 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.363 * [backup-simplify]: Simplify (+ 1 0) into 1 25.364 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 25.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.365 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 25.366 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 25.366 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 25.366 * [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))))) 25.366 * [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)))) 25.366 * [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))))) 25.367 * [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))))) 25.367 * [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)))))) into (- (* 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))))) 25.368 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 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)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 25.368 * [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)))) (* 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 lambda1 2)))) (+ (* 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))))) 25.369 * [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 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 lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 25.370 * [backup-simplify]: Simplify (+ 0 (- (* 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))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 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))))))) 25.372 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 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 (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)))))))) 25.372 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi2 25.372 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi2 25.372 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in phi2 25.372 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 25.372 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 25.372 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 25.372 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.372 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.372 * [backup-simplify]: Simplify 0.5 into 0.5 25.372 * [taylor]: Taking taylor expansion of phi2 in phi2 25.372 * [backup-simplify]: Simplify 0 into 0 25.372 * [backup-simplify]: Simplify 1 into 1 25.373 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.373 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.375 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 25.375 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 25.375 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 25.375 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.375 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.375 * [backup-simplify]: Simplify 0.5 into 0.5 25.375 * [taylor]: Taking taylor expansion of phi1 in phi2 25.375 * [backup-simplify]: Simplify phi1 into phi1 25.375 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.375 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.375 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.375 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.375 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.375 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.375 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 25.375 * [taylor]: Taking taylor expansion of lambda1 in phi2 25.375 * [backup-simplify]: Simplify lambda1 into lambda1 25.375 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in phi2 25.376 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 25.376 * [taylor]: Taking taylor expansion of phi2 in phi2 25.376 * [backup-simplify]: Simplify 0 into 0 25.376 * [backup-simplify]: Simplify 1 into 1 25.376 * [taylor]: Taking taylor expansion of (+ (* (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 (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2 25.376 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 25.376 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 25.376 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 25.376 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.376 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.376 * [backup-simplify]: Simplify 0.5 into 0.5 25.376 * [taylor]: Taking taylor expansion of phi2 in phi2 25.376 * [backup-simplify]: Simplify 0 into 0 25.376 * [backup-simplify]: Simplify 1 into 1 25.376 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.377 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.378 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 25.378 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 25.378 * [taylor]: Taking taylor expansion of lambda2 in phi2 25.378 * [backup-simplify]: Simplify lambda2 into lambda2 25.378 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 25.378 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 25.379 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.379 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.379 * [backup-simplify]: Simplify 0.5 into 0.5 25.379 * [taylor]: Taking taylor expansion of phi1 in phi2 25.379 * [backup-simplify]: Simplify phi1 into phi1 25.379 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.379 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.379 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.379 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.379 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.379 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.379 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2 25.379 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 25.379 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 25.379 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 25.379 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.379 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.379 * [backup-simplify]: Simplify 0.5 into 0.5 25.379 * [taylor]: Taking taylor expansion of phi2 in phi2 25.379 * [backup-simplify]: Simplify 0 into 0 25.379 * [backup-simplify]: Simplify 1 into 1 25.379 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.380 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.380 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 25.380 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 25.380 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 25.380 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.381 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.381 * [backup-simplify]: Simplify 0.5 into 0.5 25.381 * [taylor]: Taking taylor expansion of phi1 in phi2 25.381 * [backup-simplify]: Simplify phi1 into phi1 25.381 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.381 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.381 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.381 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.381 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.381 * [backup-simplify]: Simplify (- 0) into 0 25.381 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.381 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 25.381 * [taylor]: Taking taylor expansion of lambda2 in phi2 25.381 * [backup-simplify]: Simplify lambda2 into lambda2 25.381 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2 25.381 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 25.381 * [taylor]: Taking taylor expansion of phi1 in phi2 25.381 * [backup-simplify]: Simplify phi1 into phi1 25.381 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2 25.381 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 25.381 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 25.381 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.381 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.381 * [backup-simplify]: Simplify 0.5 into 0.5 25.381 * [taylor]: Taking taylor expansion of phi2 in phi2 25.381 * [backup-simplify]: Simplify 0 into 0 25.381 * [backup-simplify]: Simplify 1 into 1 25.382 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.383 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.383 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2 25.383 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 25.383 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 25.383 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.383 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.383 * [backup-simplify]: Simplify 0.5 into 0.5 25.383 * [taylor]: Taking taylor expansion of phi1 in phi2 25.383 * [backup-simplify]: Simplify phi1 into phi1 25.383 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.383 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.383 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.383 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.383 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.383 * [backup-simplify]: Simplify (- 0) into 0 25.383 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.383 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 25.383 * [taylor]: Taking taylor expansion of lambda1 in phi2 25.383 * [backup-simplify]: Simplify lambda1 into lambda1 25.383 * [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 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 25.383 * [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 25.384 * [taylor]: Taking taylor expansion of 2 in phi2 25.384 * [backup-simplify]: Simplify 2 into 2 25.384 * [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 25.384 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 25.384 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.384 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.384 * [backup-simplify]: Simplify 0.5 into 0.5 25.384 * [taylor]: Taking taylor expansion of phi2 in phi2 25.384 * [backup-simplify]: Simplify 0 into 0 25.384 * [backup-simplify]: Simplify 1 into 1 25.384 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.386 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.386 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 25.386 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 25.386 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.386 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.386 * [backup-simplify]: Simplify 0.5 into 0.5 25.386 * [taylor]: Taking taylor expansion of phi2 in phi2 25.386 * [backup-simplify]: Simplify 0 into 0 25.386 * [backup-simplify]: Simplify 1 into 1 25.386 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.388 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.388 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 25.388 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 25.388 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.388 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.388 * [backup-simplify]: Simplify 0.5 into 0.5 25.388 * [taylor]: Taking taylor expansion of phi1 in phi2 25.388 * [backup-simplify]: Simplify phi1 into phi1 25.388 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.388 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.388 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.388 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 25.388 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 25.388 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.388 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.388 * [backup-simplify]: Simplify 0.5 into 0.5 25.388 * [taylor]: Taking taylor expansion of phi1 in phi2 25.388 * [backup-simplify]: Simplify phi1 into phi1 25.388 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.389 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.389 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.389 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 25.389 * [taylor]: Taking taylor expansion of lambda2 in phi2 25.389 * [backup-simplify]: Simplify lambda2 into lambda2 25.389 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 25.389 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 25.389 * [taylor]: Taking taylor expansion of 2 in phi2 25.389 * [backup-simplify]: Simplify 2 into 2 25.389 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 25.389 * [taylor]: Taking taylor expansion of phi2 in phi2 25.389 * [backup-simplify]: Simplify 0 into 0 25.389 * [backup-simplify]: Simplify 1 into 1 25.389 * [taylor]: Taking taylor expansion of phi1 in phi2 25.389 * [backup-simplify]: Simplify phi1 into phi1 25.389 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 25.389 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2 25.389 * [taylor]: Taking taylor expansion of 2 in phi2 25.389 * [backup-simplify]: Simplify 2 into 2 25.389 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2 25.389 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 25.389 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.389 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.389 * [backup-simplify]: Simplify 0.5 into 0.5 25.389 * [taylor]: Taking taylor expansion of phi2 in phi2 25.389 * [backup-simplify]: Simplify 0 into 0 25.389 * [backup-simplify]: Simplify 1 into 1 25.390 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.391 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.391 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2 25.391 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 25.391 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 25.391 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.392 * [backup-simplify]: Simplify 0.5 into 0.5 25.392 * [taylor]: Taking taylor expansion of phi2 in phi2 25.392 * [backup-simplify]: Simplify 0 into 0 25.392 * [backup-simplify]: Simplify 1 into 1 25.392 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.393 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.393 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2 25.394 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 25.394 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.394 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.394 * [backup-simplify]: Simplify 0.5 into 0.5 25.394 * [taylor]: Taking taylor expansion of phi1 in phi2 25.394 * [backup-simplify]: Simplify phi1 into phi1 25.394 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.394 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.394 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.394 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2 25.394 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 25.394 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 25.394 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.394 * [backup-simplify]: Simplify 0.5 into 0.5 25.394 * [taylor]: Taking taylor expansion of phi1 in phi2 25.394 * [backup-simplify]: Simplify phi1 into phi1 25.394 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.394 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.394 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.394 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 25.394 * [taylor]: Taking taylor expansion of lambda1 in phi2 25.394 * [backup-simplify]: Simplify lambda1 into lambda1 25.395 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 25.395 * [taylor]: Taking taylor expansion of 2 in phi2 25.395 * [backup-simplify]: Simplify 2 into 2 25.395 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 25.395 * [taylor]: Taking taylor expansion of lambda2 in phi2 25.395 * [backup-simplify]: Simplify lambda2 into lambda2 25.395 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 25.395 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 25.395 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 25.395 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 25.395 * [taylor]: Taking taylor expansion of 0.5 in phi2 25.395 * [backup-simplify]: Simplify 0.5 into 0.5 25.395 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 25.395 * [taylor]: Taking taylor expansion of phi2 in phi2 25.395 * [backup-simplify]: Simplify 0 into 0 25.395 * [backup-simplify]: Simplify 1 into 1 25.395 * [taylor]: Taking taylor expansion of phi1 in phi2 25.395 * [backup-simplify]: Simplify phi1 into phi1 25.395 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 25.395 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 25.395 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 25.395 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 25.395 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.396 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.396 * [backup-simplify]: Simplify (- 0) into 0 25.396 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.396 * [taylor]: Taking taylor expansion of lambda1 in phi2 25.396 * [backup-simplify]: Simplify lambda1 into lambda1 25.396 * [backup-simplify]: Simplify (* 1 1) into 1 25.397 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 25.397 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.397 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 25.397 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 25.397 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 25.398 * [backup-simplify]: Simplify (* 1 1) into 1 25.398 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 25.398 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.398 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 25.399 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 25.399 * [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)) 25.400 * [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))) 25.401 * [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))) 25.402 * [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))) 25.403 * [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))) 25.403 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.403 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.403 * [backup-simplify]: Simplify (- 0) into 0 25.404 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.404 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.404 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.404 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.404 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.404 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 25.404 * [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))) 25.405 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 25.405 * [backup-simplify]: Simplify (* 1 0) into 0 25.406 * [backup-simplify]: Simplify (* 2 0) into 0 25.406 * [backup-simplify]: Simplify (* 0 phi1) into 0 25.406 * [backup-simplify]: Simplify (* 2 0) into 0 25.406 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 25.406 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 25.407 * [backup-simplify]: Simplify (- 0) into 0 25.407 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 25.407 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 25.407 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 25.407 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 25.407 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.408 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2)) 25.408 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) 25.408 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 25.409 * [backup-simplify]: Simplify (* 1 0) into 0 25.409 * [backup-simplify]: Simplify (* 2 0) into 0 25.410 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 25.410 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 25.410 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 25.410 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 25.411 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 25.411 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 25.411 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 25.412 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 25.413 * [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)))) 25.414 * [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))))) 25.414 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.415 * [backup-simplify]: Simplify (+ 0) into 0 25.415 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.416 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.417 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 25.418 * [backup-simplify]: Simplify (- 0) into 0 25.418 * [backup-simplify]: Simplify (+ 0 0) into 0 25.418 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 25.419 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 25.419 * [backup-simplify]: Simplify (+ 0) into 0 25.420 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.420 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 25.420 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 25.420 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.420 * [backup-simplify]: Simplify (+ 0) into 0 25.421 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.421 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.422 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 25.422 * [backup-simplify]: Simplify (- 0) into 0 25.422 * [backup-simplify]: Simplify (+ 0 0) into 0 25.422 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 25.423 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0 25.423 * [backup-simplify]: Simplify (+ 0) into 0 25.428 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.428 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0 25.429 * [backup-simplify]: Simplify (+ 0 0) into 0 25.429 * [backup-simplify]: Simplify (+ 0 0) into 0 25.429 * [backup-simplify]: Simplify (+ 0 0) into 0 25.429 * [backup-simplify]: Simplify (+ 0 0) into 0 25.430 * [backup-simplify]: Simplify (+ 0 0) into 0 25.430 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.430 * [backup-simplify]: Simplify (+ 0) into 0 25.430 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 25.431 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.432 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 25.432 * [backup-simplify]: Simplify (+ 0 0) into 0 25.432 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 25.432 * [backup-simplify]: Simplify (+ 0) into 0 25.432 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.433 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.434 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 25.434 * [backup-simplify]: Simplify (- 0) into 0 25.434 * [backup-simplify]: Simplify (+ 0 0) into 0 25.434 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 25.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.436 * [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)))) 25.436 * [backup-simplify]: Simplify (+ 0) into 0 25.437 * [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)))) 25.437 * [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)))) 25.438 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 25.438 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 25.438 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.438 * [backup-simplify]: Simplify (+ 0) into 0 25.439 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 25.439 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.440 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 25.440 * [backup-simplify]: Simplify (+ 0 0) into 0 25.440 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0 25.440 * [backup-simplify]: Simplify (+ 0) into 0 25.441 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.441 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 25.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.442 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 25.442 * [backup-simplify]: Simplify (- 0) into 0 25.442 * [backup-simplify]: Simplify (+ 0 0) into 0 25.442 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0 25.444 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.445 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 25.445 * [backup-simplify]: Simplify (+ 0) into 0 25.446 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 25.447 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) 25.447 * [backup-simplify]: Simplify (+ 0) into 0 25.448 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 25.448 * [backup-simplify]: Simplify (+ 1 0) into 1 25.449 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 25.451 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.452 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 25.452 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 25.452 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 25.452 * [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))))) 25.453 * [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)))) 25.453 * [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))))) 25.454 * [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))))) 25.455 * [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)))))) into (- (* 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))))) 25.456 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 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)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 25.457 * [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)))) (* 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 lambda1 2)))) (+ (* 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))))) 25.459 * [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 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 lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 25.461 * [backup-simplify]: Simplify (+ 0 (- (* 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))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 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))))))) 25.464 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 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 (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)))))))) 25.464 * [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 25.464 * [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 25.464 * [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 25.464 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.464 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.464 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.464 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.464 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.464 * [backup-simplify]: Simplify 0.5 into 0.5 25.464 * [taylor]: Taking taylor expansion of phi1 in phi1 25.464 * [backup-simplify]: Simplify 0 into 0 25.464 * [backup-simplify]: Simplify 1 into 1 25.464 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.465 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.465 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.465 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.465 * [backup-simplify]: Simplify lambda2 into lambda2 25.465 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 25.465 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.465 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.465 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.465 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.465 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.465 * [backup-simplify]: Simplify 0.5 into 0.5 25.466 * [taylor]: Taking taylor expansion of phi1 in phi1 25.466 * [backup-simplify]: Simplify 0 into 0 25.466 * [backup-simplify]: Simplify 1 into 1 25.466 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.467 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.467 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.467 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.467 * [backup-simplify]: Simplify lambda1 into lambda1 25.467 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.467 * [taylor]: Taking taylor expansion of phi1 in phi1 25.467 * [backup-simplify]: Simplify 0 into 0 25.467 * [backup-simplify]: Simplify 1 into 1 25.467 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.467 * [taylor]: Taking taylor expansion of 2 in phi1 25.467 * [backup-simplify]: Simplify 2 into 2 25.467 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.467 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.467 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.467 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.467 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.467 * [backup-simplify]: Simplify 0.5 into 0.5 25.467 * [taylor]: Taking taylor expansion of phi1 in phi1 25.467 * [backup-simplify]: Simplify 0 into 0 25.467 * [backup-simplify]: Simplify 1 into 1 25.467 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.468 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.468 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.468 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.468 * [backup-simplify]: Simplify lambda2 into lambda2 25.468 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.468 * [backup-simplify]: Simplify lambda1 into lambda1 25.469 * [backup-simplify]: Simplify (* 1 1) into 1 25.469 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.469 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.469 * [backup-simplify]: Simplify (* 1 1) into 1 25.469 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.469 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.469 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 25.469 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 25.470 * [backup-simplify]: Simplify (* 1 1) into 1 25.470 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.470 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.470 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 25.470 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 25.470 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 25.470 * [backup-simplify]: Simplify (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 25.470 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.471 * [backup-simplify]: Simplify (+ 0) into 0 25.471 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.471 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 25.471 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.472 * [backup-simplify]: Simplify (+ 0) into 0 25.472 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.472 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 25.473 * [backup-simplify]: Simplify (+ 0 0) into 0 25.473 * [backup-simplify]: Simplify (+ 0 0) into 0 25.473 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 25.473 * [backup-simplify]: Simplify (+ 0) into 0 25.473 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.474 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 25.474 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 25.474 * [backup-simplify]: Simplify (- 0) into 0 25.475 * [backup-simplify]: Simplify (+ 0 0) into 0 25.475 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) into 0 25.475 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 25.475 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 25.475 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 25.475 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.475 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.475 * [backup-simplify]: Simplify 0 into 0 25.475 * [backup-simplify]: Simplify 1 into 1 25.475 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.475 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.475 * [backup-simplify]: Simplify lambda2 into lambda2 25.475 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 25.475 * [taylor]: Taking taylor expansion of 2 in lambda1 25.475 * [backup-simplify]: Simplify 2 into 2 25.475 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 25.475 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.475 * [backup-simplify]: Simplify lambda2 into lambda2 25.475 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.475 * [backup-simplify]: Simplify 0 into 0 25.475 * [backup-simplify]: Simplify 1 into 1 25.475 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.475 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 25.475 * [backup-simplify]: Simplify (* lambda2 0) into 0 25.476 * [backup-simplify]: Simplify (* 2 0) into 0 25.476 * [backup-simplify]: Simplify (- 0) into 0 25.476 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 25.476 * [backup-simplify]: Simplify (sqrt (pow lambda2 2)) into lambda2 25.476 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.476 * [backup-simplify]: Simplify (+ 0 0) into 0 25.477 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 25.477 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 25.477 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 25.477 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 25.478 * [backup-simplify]: Simplify (/ (- (* 2 lambda2)) (* 2 (sqrt (pow lambda2 2)))) into -1 25.478 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.478 * [backup-simplify]: Simplify 0 into 0 25.478 * [backup-simplify]: Simplify 1 into 1 25.478 * [backup-simplify]: Simplify 0 into 0 25.478 * [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 25.478 * [taylor]: Taking taylor expansion of 1/2 in phi1 25.478 * [backup-simplify]: Simplify 1/2 into 1/2 25.478 * [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 25.478 * [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 25.478 * [taylor]: Taking taylor expansion of (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) in phi1 25.478 * [taylor]: Taking taylor expansion of 2.0 in phi1 25.478 * [backup-simplify]: Simplify 2.0 into 2.0 25.478 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))) in phi1 25.478 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.478 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.478 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.478 * [backup-simplify]: Simplify 0.5 into 0.5 25.478 * [taylor]: Taking taylor expansion of phi1 in phi1 25.478 * [backup-simplify]: Simplify 0 into 0 25.478 * [backup-simplify]: Simplify 1 into 1 25.478 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.479 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.479 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 lambda1)) in phi1 25.479 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.479 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.479 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.479 * [backup-simplify]: Simplify 0.5 into 0.5 25.479 * [taylor]: Taking taylor expansion of phi1 in phi1 25.479 * [backup-simplify]: Simplify 0 into 0 25.479 * [backup-simplify]: Simplify 1 into 1 25.480 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.481 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.481 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.481 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.481 * [backup-simplify]: Simplify lambda2 into lambda2 25.481 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.481 * [backup-simplify]: Simplify lambda1 into lambda1 25.481 * [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 25.481 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 25.481 * [taylor]: Taking taylor expansion of 1.0 in phi1 25.481 * [backup-simplify]: Simplify 1.0 into 1.0 25.481 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 25.481 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.481 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.481 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.481 * [backup-simplify]: Simplify 0.5 into 0.5 25.481 * [taylor]: Taking taylor expansion of phi1 in phi1 25.481 * [backup-simplify]: Simplify 0 into 0 25.481 * [backup-simplify]: Simplify 1 into 1 25.481 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.482 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.482 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 25.482 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.482 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.482 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.482 * [backup-simplify]: Simplify 0.5 into 0.5 25.482 * [taylor]: Taking taylor expansion of phi1 in phi1 25.482 * [backup-simplify]: Simplify 0 into 0 25.482 * [backup-simplify]: Simplify 1 into 1 25.482 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.483 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.483 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.483 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.483 * [backup-simplify]: Simplify lambda1 into lambda1 25.483 * [taylor]: Taking taylor expansion of (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) in phi1 25.483 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 25.483 * [taylor]: Taking taylor expansion of 1.0 in phi1 25.483 * [backup-simplify]: Simplify 1.0 into 1.0 25.483 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 25.483 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.484 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.484 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.484 * [backup-simplify]: Simplify 0.5 into 0.5 25.484 * [taylor]: Taking taylor expansion of phi1 in phi1 25.484 * [backup-simplify]: Simplify 0 into 0 25.484 * [backup-simplify]: Simplify 1 into 1 25.484 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.485 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.485 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 25.485 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.485 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.485 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.485 * [backup-simplify]: Simplify 0.5 into 0.5 25.485 * [taylor]: Taking taylor expansion of phi1 in phi1 25.485 * [backup-simplify]: Simplify 0 into 0 25.485 * [backup-simplify]: Simplify 1 into 1 25.485 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.486 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.486 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.486 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.486 * [backup-simplify]: Simplify lambda2 into lambda2 25.486 * [taylor]: Taking taylor expansion of (* 2 phi1) in phi1 25.486 * [taylor]: Taking taylor expansion of 2 in phi1 25.486 * [backup-simplify]: Simplify 2 into 2 25.486 * [taylor]: Taking taylor expansion of phi1 in phi1 25.486 * [backup-simplify]: Simplify 0 into 0 25.486 * [backup-simplify]: Simplify 1 into 1 25.486 * [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 25.486 * [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 25.486 * [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 25.486 * [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 25.486 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.486 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.486 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.486 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.486 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.486 * [backup-simplify]: Simplify 0.5 into 0.5 25.486 * [taylor]: Taking taylor expansion of phi1 in phi1 25.486 * [backup-simplify]: Simplify 0 into 0 25.486 * [backup-simplify]: Simplify 1 into 1 25.487 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.488 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.488 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.488 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.488 * [backup-simplify]: Simplify lambda2 into lambda2 25.488 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 25.488 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.488 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.488 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.488 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.488 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.488 * [backup-simplify]: Simplify 0.5 into 0.5 25.488 * [taylor]: Taking taylor expansion of phi1 in phi1 25.488 * [backup-simplify]: Simplify 0 into 0 25.488 * [backup-simplify]: Simplify 1 into 1 25.488 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.489 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.489 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.489 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.489 * [backup-simplify]: Simplify lambda1 into lambda1 25.489 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.489 * [taylor]: Taking taylor expansion of phi1 in phi1 25.489 * [backup-simplify]: Simplify 0 into 0 25.489 * [backup-simplify]: Simplify 1 into 1 25.489 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.489 * [taylor]: Taking taylor expansion of 2 in phi1 25.489 * [backup-simplify]: Simplify 2 into 2 25.489 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.489 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.489 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.489 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.489 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.489 * [backup-simplify]: Simplify 0.5 into 0.5 25.489 * [taylor]: Taking taylor expansion of phi1 in phi1 25.489 * [backup-simplify]: Simplify 0 into 0 25.489 * [backup-simplify]: Simplify 1 into 1 25.489 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.490 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.490 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.490 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.490 * [backup-simplify]: Simplify lambda2 into lambda2 25.490 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.490 * [backup-simplify]: Simplify lambda1 into lambda1 25.491 * [backup-simplify]: Simplify (* 1 1) into 1 25.491 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.491 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.491 * [backup-simplify]: Simplify (* 1 1) into 1 25.491 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.491 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.491 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 25.492 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 25.492 * [backup-simplify]: Simplify (* 1 1) into 1 25.492 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.492 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.492 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 25.492 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 25.493 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 25.493 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 25.494 * [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))))) 25.494 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.494 * [backup-simplify]: Simplify (+ 0) into 0 25.495 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.496 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 25.496 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.496 * [backup-simplify]: Simplify (+ 0) into 0 25.497 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.497 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 25.498 * [backup-simplify]: Simplify (+ 0 0) into 0 25.498 * [backup-simplify]: Simplify (+ 0 0) into 0 25.498 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 25.498 * [backup-simplify]: Simplify (+ 0) into 0 25.499 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.500 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 25.500 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 25.501 * [backup-simplify]: Simplify (- 0) into 0 25.501 * [backup-simplify]: Simplify (+ 0 0) into 0 25.502 * [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 25.502 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into 0 25.502 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.502 * [backup-simplify]: Simplify (* 0 (* lambda2 lambda1)) into 0 25.503 * [backup-simplify]: Simplify (* 1 0) into 0 25.503 * [backup-simplify]: Simplify (* 2.0 0) into 0 25.503 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.503 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 25.504 * [backup-simplify]: Simplify (* 1 0) into 0 25.504 * [backup-simplify]: Simplify (* 1.0 0) into 0 25.504 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.505 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 25.505 * [backup-simplify]: Simplify (* 1 0) into 0 25.505 * [backup-simplify]: Simplify (* 1.0 0) into 0 25.506 * [backup-simplify]: Simplify (* 2 0) into 0 25.506 * [backup-simplify]: Simplify (+ 0 0) into 0 25.506 * [backup-simplify]: Simplify (+ 0 0) into 0 25.507 * [backup-simplify]: Simplify (- 0) into 0 25.507 * [backup-simplify]: Simplify (+ 0 0) into 0 25.508 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) into 0 25.508 * [backup-simplify]: Simplify (* 1/2 0) into 0 25.508 * [taylor]: Taking taylor expansion of 0 in lambda1 25.508 * [backup-simplify]: Simplify 0 into 0 25.508 * [taylor]: Taking taylor expansion of 0 in lambda2 25.508 * [backup-simplify]: Simplify 0 into 0 25.508 * [backup-simplify]: Simplify 0 into 0 25.508 * [taylor]: Taking taylor expansion of 0 in lambda1 25.508 * [backup-simplify]: Simplify 0 into 0 25.508 * [taylor]: Taking taylor expansion of 0 in lambda2 25.508 * [backup-simplify]: Simplify 0 into 0 25.509 * [backup-simplify]: Simplify 0 into 0 25.509 * [taylor]: Taking taylor expansion of -1 in lambda2 25.509 * [backup-simplify]: Simplify -1 into -1 25.509 * [backup-simplify]: Simplify -1 into -1 25.509 * [backup-simplify]: Simplify 1 into 1 25.509 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 25.509 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 25.509 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.510 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) 25.510 * [backup-simplify]: Simplify (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) into (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 25.511 * [backup-simplify]: Simplify (* 1 1) into 1 25.511 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 25.511 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.511 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 25.512 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 25.512 * [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))) 25.512 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 25.513 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 25.514 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 25.515 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 25.516 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 25.516 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 25.517 * [backup-simplify]: Simplify (- 0) into 0 25.517 * [backup-simplify]: Simplify (+ 0 0) into 0 25.518 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 25.518 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda2 2)))) into 0 25.521 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 25.525 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 25.527 * [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)))) 25.527 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 25.528 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 25.528 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 25.529 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 25.530 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 25.531 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 25.531 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 25.532 * [backup-simplify]: Simplify (- 0) into 0 25.532 * [backup-simplify]: Simplify (+ 0 0) into 0 25.533 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 25.533 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0 25.536 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 25.540 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 25.542 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 25.542 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 25.543 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 25.544 * [backup-simplify]: Simplify (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (- (+ (* 0.25 (* (pow (cos (* 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 (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 25.546 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 0.25 (* (pow (cos (* 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))) 1) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 25.548 * [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 lambda2 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 (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))))) 25.548 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 25.549 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 25.550 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 25.558 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 25.559 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 25.560 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 25.561 * [backup-simplify]: Simplify (+ 0 0) into 0 25.561 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda2 2)))) into 0 25.562 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 25.563 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 25.564 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 25.565 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 25.565 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 25.566 * [backup-simplify]: Simplify (- 0) into 0 25.566 * [backup-simplify]: Simplify (+ 0 0) into 0 25.567 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0 25.568 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 25.569 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 25.570 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) into 0 25.573 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 25.574 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* (- 0.125) 0))) into 0 25.575 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0))) into 0 25.576 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 25.577 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi1) (* 0 0))) into 0 25.577 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 25.578 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 25.579 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 25.580 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 25.581 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 25.581 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 25.582 * [backup-simplify]: Simplify (+ 0 0) into 0 25.582 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0 25.583 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 25.584 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 25.585 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 25.585 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 25.586 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 25.586 * [backup-simplify]: Simplify (- 0) into 0 25.587 * [backup-simplify]: Simplify (+ 0 0) into 0 25.587 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0 25.588 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 25.589 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 25.590 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0 25.594 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 25.596 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* (- 0.125) 0))) into 0 25.597 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0))) into 0 25.600 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 25.601 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 25.601 * [backup-simplify]: Simplify (+ 0 0) into 0 25.602 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 25.603 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 25.603 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 25.604 * [backup-simplify]: Simplify (- 0) into 0 25.604 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 25.605 * [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))) 25.606 * [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))) 25.607 * [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)))) 25.609 * [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)))) 25.610 * [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)))) 25.610 * [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)))) 25.611 * [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)))) 25.612 * [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)))) 25.615 * [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)))))) 25.626 * [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)))))))))))))))) 25.627 * [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 25.627 * [taylor]: Taking taylor expansion of 1/2 in phi1 25.627 * [backup-simplify]: Simplify 1/2 into 1/2 25.627 * [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 25.627 * [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 25.627 * [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 25.627 * [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 25.627 * [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 25.627 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.627 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.628 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.628 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.628 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.628 * [backup-simplify]: Simplify 0.5 into 0.5 25.628 * [taylor]: Taking taylor expansion of phi1 in phi1 25.628 * [backup-simplify]: Simplify 0 into 0 25.628 * [backup-simplify]: Simplify 1 into 1 25.628 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.629 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.629 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.629 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.629 * [backup-simplify]: Simplify lambda2 into lambda2 25.629 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 25.629 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.629 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.629 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.629 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.629 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.629 * [backup-simplify]: Simplify 0.5 into 0.5 25.629 * [taylor]: Taking taylor expansion of phi1 in phi1 25.629 * [backup-simplify]: Simplify 0 into 0 25.629 * [backup-simplify]: Simplify 1 into 1 25.630 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.630 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.631 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.631 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.631 * [backup-simplify]: Simplify lambda1 into lambda1 25.631 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.631 * [taylor]: Taking taylor expansion of phi1 in phi1 25.631 * [backup-simplify]: Simplify 0 into 0 25.631 * [backup-simplify]: Simplify 1 into 1 25.631 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.631 * [taylor]: Taking taylor expansion of 2 in phi1 25.631 * [backup-simplify]: Simplify 2 into 2 25.631 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.631 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.631 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.631 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.631 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.631 * [backup-simplify]: Simplify 0.5 into 0.5 25.631 * [taylor]: Taking taylor expansion of phi1 in phi1 25.631 * [backup-simplify]: Simplify 0 into 0 25.631 * [backup-simplify]: Simplify 1 into 1 25.631 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.632 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.632 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.632 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.632 * [backup-simplify]: Simplify lambda2 into lambda2 25.632 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.632 * [backup-simplify]: Simplify lambda1 into lambda1 25.633 * [backup-simplify]: Simplify (* 1 1) into 1 25.633 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.633 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.633 * [backup-simplify]: Simplify (* 1 1) into 1 25.633 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.633 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.633 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 25.634 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 25.634 * [backup-simplify]: Simplify (* 1 1) into 1 25.634 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.634 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.634 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 25.634 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 25.634 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 25.634 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 25.635 * [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))))) 25.635 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.635 * [backup-simplify]: Simplify (+ 0) into 0 25.635 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.636 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 25.636 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.636 * [backup-simplify]: Simplify (+ 0) into 0 25.636 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.637 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 25.637 * [backup-simplify]: Simplify (+ 0 0) into 0 25.637 * [backup-simplify]: Simplify (+ 0 0) into 0 25.637 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 25.638 * [backup-simplify]: Simplify (+ 0) into 0 25.638 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.638 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 25.639 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 25.639 * [backup-simplify]: Simplify (- 0) into 0 25.639 * [backup-simplify]: Simplify (+ 0 0) into 0 25.639 * [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 25.640 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into 0 25.640 * [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 25.640 * [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 25.640 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 25.640 * [taylor]: Taking taylor expansion of 0.25 in phi1 25.640 * [backup-simplify]: Simplify 0.25 into 0.25 25.640 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.640 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 25.640 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.640 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.640 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.640 * [backup-simplify]: Simplify 0.5 into 0.5 25.640 * [taylor]: Taking taylor expansion of phi1 in phi1 25.640 * [backup-simplify]: Simplify 0 into 0 25.640 * [backup-simplify]: Simplify 1 into 1 25.640 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.641 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.643 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.643 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.643 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.643 * [backup-simplify]: Simplify lambda2 into lambda2 25.643 * [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 25.643 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.643 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.643 * [backup-simplify]: Simplify 0.5 into 0.5 25.643 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.643 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.643 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.643 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.643 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.643 * [backup-simplify]: Simplify 0.5 into 0.5 25.643 * [taylor]: Taking taylor expansion of phi1 in phi1 25.643 * [backup-simplify]: Simplify 0 into 0 25.643 * [backup-simplify]: Simplify 1 into 1 25.643 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.644 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.644 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.644 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.644 * [backup-simplify]: Simplify lambda2 into lambda2 25.644 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.644 * [backup-simplify]: Simplify lambda1 into lambda1 25.644 * [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 25.644 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 25.645 * [taylor]: Taking taylor expansion of 0.25 in phi1 25.645 * [backup-simplify]: Simplify 0.25 into 0.25 25.645 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.645 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 25.645 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.645 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.645 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.645 * [backup-simplify]: Simplify 0.5 into 0.5 25.645 * [taylor]: Taking taylor expansion of phi1 in phi1 25.645 * [backup-simplify]: Simplify 0 into 0 25.645 * [backup-simplify]: Simplify 1 into 1 25.645 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.646 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.647 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.647 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.647 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.647 * [backup-simplify]: Simplify lambda1 into lambda1 25.647 * [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 25.647 * [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 25.647 * [taylor]: Taking taylor expansion of 1.0 in phi1 25.647 * [backup-simplify]: Simplify 1.0 into 1.0 25.647 * [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 25.648 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) in phi1 25.648 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.648 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.648 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.648 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.648 * [backup-simplify]: Simplify 0.5 into 0.5 25.648 * [taylor]: Taking taylor expansion of phi1 in phi1 25.648 * [backup-simplify]: Simplify 0 into 0 25.648 * [backup-simplify]: Simplify 1 into 1 25.648 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.649 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.649 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1)) in phi1 25.649 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 25.649 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.649 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.649 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.649 * [backup-simplify]: Simplify 0.5 into 0.5 25.649 * [taylor]: Taking taylor expansion of phi1 in phi1 25.649 * [backup-simplify]: Simplify 0 into 0 25.649 * [backup-simplify]: Simplify 1 into 1 25.649 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.650 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.652 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) lambda1) in phi1 25.652 * [taylor]: Taking taylor expansion of (pow lambda2 3) in phi1 25.652 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.652 * [backup-simplify]: Simplify lambda2 into lambda2 25.652 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.652 * [backup-simplify]: Simplify lambda1 into lambda1 25.652 * [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 25.652 * [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 25.652 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.652 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.652 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.652 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.652 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.652 * [backup-simplify]: Simplify 0.5 into 0.5 25.652 * [taylor]: Taking taylor expansion of phi1 in phi1 25.652 * [backup-simplify]: Simplify 0 into 0 25.652 * [backup-simplify]: Simplify 1 into 1 25.652 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.653 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.653 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.653 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.653 * [backup-simplify]: Simplify lambda2 into lambda2 25.653 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 25.653 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.653 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.653 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.653 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.653 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.653 * [backup-simplify]: Simplify 0.5 into 0.5 25.654 * [taylor]: Taking taylor expansion of phi1 in phi1 25.654 * [backup-simplify]: Simplify 0 into 0 25.654 * [backup-simplify]: Simplify 1 into 1 25.654 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.655 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.655 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.655 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.655 * [backup-simplify]: Simplify lambda1 into lambda1 25.655 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.655 * [taylor]: Taking taylor expansion of phi1 in phi1 25.655 * [backup-simplify]: Simplify 0 into 0 25.655 * [backup-simplify]: Simplify 1 into 1 25.655 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.655 * [taylor]: Taking taylor expansion of 2 in phi1 25.655 * [backup-simplify]: Simplify 2 into 2 25.655 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.655 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.655 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.655 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.655 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.655 * [backup-simplify]: Simplify 0.5 into 0.5 25.655 * [taylor]: Taking taylor expansion of phi1 in phi1 25.655 * [backup-simplify]: Simplify 0 into 0 25.655 * [backup-simplify]: Simplify 1 into 1 25.655 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.657 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.657 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.657 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.657 * [backup-simplify]: Simplify lambda2 into lambda2 25.657 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.657 * [backup-simplify]: Simplify lambda1 into lambda1 25.657 * [backup-simplify]: Simplify (* 1 1) into 1 25.657 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 25.658 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.658 * [backup-simplify]: Simplify (* lambda2 (pow lambda2 2)) into (pow lambda2 3) 25.658 * [backup-simplify]: Simplify (* (pow lambda2 3) lambda1) into (* (pow lambda2 3) lambda1) 25.658 * [backup-simplify]: Simplify (* 0.25 (* (pow lambda2 3) lambda1)) into (* 0.25 (* (pow lambda2 3) lambda1)) 25.658 * [backup-simplify]: Simplify (* 1 (* 0.25 (* (pow lambda2 3) lambda1))) into (* 0.25 (* (pow lambda2 3) lambda1)) 25.659 * [backup-simplify]: Simplify (* 1 1) into 1 25.659 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.659 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.659 * [backup-simplify]: Simplify (* 1 1) into 1 25.659 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.660 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.660 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 25.660 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 25.660 * [backup-simplify]: Simplify (* 1 1) into 1 25.660 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.660 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.661 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 25.661 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 25.661 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 25.662 * [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))))) 25.662 * [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 25.662 * [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 25.662 * [taylor]: Taking taylor expansion of 2.0 in phi1 25.662 * [backup-simplify]: Simplify 2.0 into 2.0 25.662 * [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 25.662 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) in phi1 25.662 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.662 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.662 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.662 * [backup-simplify]: Simplify 0.5 into 0.5 25.662 * [taylor]: Taking taylor expansion of phi1 in phi1 25.662 * [backup-simplify]: Simplify 0 into 0 25.662 * [backup-simplify]: Simplify 1 into 1 25.663 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.664 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.664 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1))) in phi1 25.664 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.665 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.665 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.665 * [backup-simplify]: Simplify 0.5 into 0.5 25.665 * [taylor]: Taking taylor expansion of phi1 in phi1 25.665 * [backup-simplify]: Simplify 0 into 0 25.665 * [backup-simplify]: Simplify 1 into 1 25.665 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.667 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.667 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 phi1)) in phi1 25.667 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.667 * [backup-simplify]: Simplify lambda2 into lambda2 25.667 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 25.667 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.667 * [backup-simplify]: Simplify lambda1 into lambda1 25.667 * [taylor]: Taking taylor expansion of phi1 in phi1 25.667 * [backup-simplify]: Simplify 0 into 0 25.667 * [backup-simplify]: Simplify 1 into 1 25.667 * [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 25.667 * [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 25.667 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.667 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.667 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.667 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.667 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.667 * [backup-simplify]: Simplify 0.5 into 0.5 25.667 * [taylor]: Taking taylor expansion of phi1 in phi1 25.667 * [backup-simplify]: Simplify 0 into 0 25.667 * [backup-simplify]: Simplify 1 into 1 25.668 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.669 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.669 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.669 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.669 * [backup-simplify]: Simplify lambda2 into lambda2 25.669 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 25.670 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.670 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.670 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.670 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.670 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.670 * [backup-simplify]: Simplify 0.5 into 0.5 25.670 * [taylor]: Taking taylor expansion of phi1 in phi1 25.670 * [backup-simplify]: Simplify 0 into 0 25.670 * [backup-simplify]: Simplify 1 into 1 25.670 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.672 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.672 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.672 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.672 * [backup-simplify]: Simplify lambda1 into lambda1 25.672 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.672 * [taylor]: Taking taylor expansion of phi1 in phi1 25.672 * [backup-simplify]: Simplify 0 into 0 25.672 * [backup-simplify]: Simplify 1 into 1 25.672 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.672 * [taylor]: Taking taylor expansion of 2 in phi1 25.672 * [backup-simplify]: Simplify 2 into 2 25.672 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.672 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.672 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.672 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.672 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.672 * [backup-simplify]: Simplify 0.5 into 0.5 25.672 * [taylor]: Taking taylor expansion of phi1 in phi1 25.672 * [backup-simplify]: Simplify 0 into 0 25.672 * [backup-simplify]: Simplify 1 into 1 25.673 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.674 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.674 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.674 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.674 * [backup-simplify]: Simplify lambda2 into lambda2 25.674 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.674 * [backup-simplify]: Simplify lambda1 into lambda1 25.675 * [backup-simplify]: Simplify (* lambda1 0) into 0 25.675 * [backup-simplify]: Simplify (* lambda2 0) into 0 25.675 * [backup-simplify]: Simplify (* 0 0) into 0 25.675 * [backup-simplify]: Simplify (* 1 0) into 0 25.676 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 25.676 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 25.679 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.679 * [backup-simplify]: Simplify (+ (* 0 (* lambda2 lambda1)) (* 0.5 0)) into 0 25.680 * [backup-simplify]: Simplify (+ 0) into 0 25.680 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 25.682 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 1) (* 0 0))) into 0 25.682 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 lambda1) (* 0 0))) into 0 25.683 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 25.684 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 25.685 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (* lambda2 lambda1)) (* 0 0))) into (* 0.5 (* lambda2 lambda1)) 25.688 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 25.688 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (* lambda2 lambda1)) 25.689 * [backup-simplify]: Simplify (* 1 1) into 1 25.689 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.689 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.689 * [backup-simplify]: Simplify (* 1 1) into 1 25.689 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.690 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.690 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 25.690 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 25.690 * [backup-simplify]: Simplify (* 1 1) into 1 25.690 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.691 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.691 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 25.691 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 25.691 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 25.692 * [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))))) 25.692 * [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 25.692 * [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 25.692 * [taylor]: Taking taylor expansion of 1.0 in phi1 25.692 * [backup-simplify]: Simplify 1.0 into 1.0 25.692 * [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 25.692 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) in phi1 25.692 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.692 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.692 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.692 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.692 * [backup-simplify]: Simplify 0.5 into 0.5 25.692 * [taylor]: Taking taylor expansion of phi1 in phi1 25.692 * [backup-simplify]: Simplify 0 into 0 25.692 * [backup-simplify]: Simplify 1 into 1 25.693 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.702 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.702 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3))) in phi1 25.702 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 25.702 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.702 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.702 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.702 * [backup-simplify]: Simplify 0.5 into 0.5 25.702 * [taylor]: Taking taylor expansion of phi1 in phi1 25.702 * [backup-simplify]: Simplify 0 into 0 25.702 * [backup-simplify]: Simplify 1 into 1 25.702 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.704 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.706 * [taylor]: Taking taylor expansion of (* lambda2 (pow lambda1 3)) in phi1 25.706 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.707 * [backup-simplify]: Simplify lambda2 into lambda2 25.707 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi1 25.707 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.707 * [backup-simplify]: Simplify lambda1 into lambda1 25.707 * [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 25.707 * [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 25.707 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.707 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.707 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.707 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.707 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.707 * [backup-simplify]: Simplify 0.5 into 0.5 25.707 * [taylor]: Taking taylor expansion of phi1 in phi1 25.707 * [backup-simplify]: Simplify 0 into 0 25.707 * [backup-simplify]: Simplify 1 into 1 25.707 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.708 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.708 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.708 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.708 * [backup-simplify]: Simplify lambda2 into lambda2 25.708 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 25.708 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.708 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.708 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.708 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.708 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.709 * [backup-simplify]: Simplify 0.5 into 0.5 25.709 * [taylor]: Taking taylor expansion of phi1 in phi1 25.709 * [backup-simplify]: Simplify 0 into 0 25.709 * [backup-simplify]: Simplify 1 into 1 25.709 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.710 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.710 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.710 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.710 * [backup-simplify]: Simplify lambda1 into lambda1 25.710 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.710 * [taylor]: Taking taylor expansion of phi1 in phi1 25.710 * [backup-simplify]: Simplify 0 into 0 25.710 * [backup-simplify]: Simplify 1 into 1 25.710 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.710 * [taylor]: Taking taylor expansion of 2 in phi1 25.710 * [backup-simplify]: Simplify 2 into 2 25.710 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.710 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.710 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.710 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.710 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.710 * [backup-simplify]: Simplify 0.5 into 0.5 25.710 * [taylor]: Taking taylor expansion of phi1 in phi1 25.710 * [backup-simplify]: Simplify 0 into 0 25.710 * [backup-simplify]: Simplify 1 into 1 25.710 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.711 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.711 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.711 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.711 * [backup-simplify]: Simplify lambda2 into lambda2 25.711 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.711 * [backup-simplify]: Simplify lambda1 into lambda1 25.711 * [backup-simplify]: Simplify (* 1 1) into 1 25.712 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 25.712 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.712 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3) 25.712 * [backup-simplify]: Simplify (* lambda2 (pow lambda1 3)) into (* lambda2 (pow lambda1 3)) 25.712 * [backup-simplify]: Simplify (* 0.25 (* lambda2 (pow lambda1 3))) into (* 0.25 (* lambda2 (pow lambda1 3))) 25.712 * [backup-simplify]: Simplify (* 1 (* 0.25 (* lambda2 (pow lambda1 3)))) into (* 0.25 (* lambda2 (pow lambda1 3))) 25.712 * [backup-simplify]: Simplify (* 1 1) into 1 25.712 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.713 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.713 * [backup-simplify]: Simplify (* 1 1) into 1 25.713 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.713 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.713 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 25.713 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 25.713 * [backup-simplify]: Simplify (* 1 1) into 1 25.713 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.713 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.714 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 25.714 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 25.714 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 25.714 * [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))))) 25.714 * [taylor]: Taking taylor expansion of 1 in phi1 25.714 * [backup-simplify]: Simplify 1 into 1 25.714 * [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 25.714 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 25.714 * [taylor]: Taking taylor expansion of 0.25 in phi1 25.714 * [backup-simplify]: Simplify 0.25 into 0.25 25.714 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.714 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.714 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.714 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.714 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.714 * [backup-simplify]: Simplify 0.5 into 0.5 25.714 * [taylor]: Taking taylor expansion of phi1 in phi1 25.715 * [backup-simplify]: Simplify 0 into 0 25.715 * [backup-simplify]: Simplify 1 into 1 25.715 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.716 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.716 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.716 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.716 * [backup-simplify]: Simplify lambda2 into lambda2 25.716 * [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 25.716 * [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 25.716 * [taylor]: Taking taylor expansion of 1.5 in phi1 25.716 * [backup-simplify]: Simplify 1.5 into 1.5 25.716 * [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 25.716 * [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 25.716 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.716 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.716 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.716 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.716 * [backup-simplify]: Simplify 0.5 into 0.5 25.716 * [taylor]: Taking taylor expansion of phi1 in phi1 25.716 * [backup-simplify]: Simplify 0 into 0 25.716 * [backup-simplify]: Simplify 1 into 1 25.716 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.717 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.717 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2))) in phi1 25.717 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 25.717 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.717 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.717 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.717 * [backup-simplify]: Simplify 0.5 into 0.5 25.717 * [taylor]: Taking taylor expansion of phi1 in phi1 25.717 * [backup-simplify]: Simplify 0 into 0 25.717 * [backup-simplify]: Simplify 1 into 1 25.718 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.718 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.720 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow lambda1 2)) in phi1 25.720 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.720 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.720 * [backup-simplify]: Simplify lambda2 into lambda2 25.720 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.720 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.720 * [backup-simplify]: Simplify lambda1 into lambda1 25.720 * [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 25.720 * [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 25.720 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.720 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.720 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.720 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.720 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.720 * [backup-simplify]: Simplify 0.5 into 0.5 25.720 * [taylor]: Taking taylor expansion of phi1 in phi1 25.720 * [backup-simplify]: Simplify 0 into 0 25.720 * [backup-simplify]: Simplify 1 into 1 25.720 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.721 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.721 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.721 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.721 * [backup-simplify]: Simplify lambda2 into lambda2 25.721 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 25.721 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.721 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.721 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.721 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.721 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.722 * [backup-simplify]: Simplify 0.5 into 0.5 25.722 * [taylor]: Taking taylor expansion of phi1 in phi1 25.722 * [backup-simplify]: Simplify 0 into 0 25.722 * [backup-simplify]: Simplify 1 into 1 25.722 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.723 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.723 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.723 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.723 * [backup-simplify]: Simplify lambda1 into lambda1 25.723 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.723 * [taylor]: Taking taylor expansion of phi1 in phi1 25.723 * [backup-simplify]: Simplify 0 into 0 25.723 * [backup-simplify]: Simplify 1 into 1 25.723 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.723 * [taylor]: Taking taylor expansion of 2 in phi1 25.723 * [backup-simplify]: Simplify 2 into 2 25.723 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.723 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.723 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.723 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.723 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.723 * [backup-simplify]: Simplify 0.5 into 0.5 25.723 * [taylor]: Taking taylor expansion of phi1 in phi1 25.723 * [backup-simplify]: Simplify 0 into 0 25.723 * [backup-simplify]: Simplify 1 into 1 25.723 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.724 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.724 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.724 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.724 * [backup-simplify]: Simplify lambda2 into lambda2 25.724 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.724 * [backup-simplify]: Simplify lambda1 into lambda1 25.725 * [backup-simplify]: Simplify (* 1 1) into 1 25.725 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 25.725 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.725 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.725 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow lambda1 2)) into (* (pow lambda2 2) (pow lambda1 2)) 25.725 * [backup-simplify]: Simplify (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) into (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) 25.725 * [backup-simplify]: Simplify (* 1 (* 0.25 (* (pow lambda2 2) (pow lambda1 2)))) into (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) 25.726 * [backup-simplify]: Simplify (* 1 1) into 1 25.726 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.726 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.726 * [backup-simplify]: Simplify (* 1 1) into 1 25.726 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.726 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.726 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 25.727 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 25.727 * [backup-simplify]: Simplify (* 1 1) into 1 25.727 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.727 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.727 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 25.727 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 25.727 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 25.728 * [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))))) 25.728 * [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 25.728 * [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 25.728 * [taylor]: Taking taylor expansion of 0.25 in phi1 25.728 * [backup-simplify]: Simplify 0.25 into 0.25 25.728 * [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 25.728 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) in phi1 25.728 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.728 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.728 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.728 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.728 * [backup-simplify]: Simplify 0.5 into 0.5 25.728 * [taylor]: Taking taylor expansion of phi1 in phi1 25.728 * [backup-simplify]: Simplify 0 into 0 25.728 * [backup-simplify]: Simplify 1 into 1 25.728 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.729 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.729 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4)) in phi1 25.729 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 25.729 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.729 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.729 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.729 * [backup-simplify]: Simplify 0.5 into 0.5 25.730 * [taylor]: Taking taylor expansion of phi1 in phi1 25.730 * [backup-simplify]: Simplify 0 into 0 25.730 * [backup-simplify]: Simplify 1 into 1 25.730 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.731 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.732 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.732 * [taylor]: Taking taylor expansion of (pow lambda1 4) in phi1 25.732 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.732 * [backup-simplify]: Simplify lambda1 into lambda1 25.732 * [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 25.732 * [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 25.732 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.732 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.732 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.732 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.732 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.732 * [backup-simplify]: Simplify 0.5 into 0.5 25.732 * [taylor]: Taking taylor expansion of phi1 in phi1 25.732 * [backup-simplify]: Simplify 0 into 0 25.732 * [backup-simplify]: Simplify 1 into 1 25.733 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.734 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.734 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.734 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.734 * [backup-simplify]: Simplify lambda2 into lambda2 25.734 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 25.734 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.734 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.734 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.734 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.734 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.734 * [backup-simplify]: Simplify 0.5 into 0.5 25.734 * [taylor]: Taking taylor expansion of phi1 in phi1 25.734 * [backup-simplify]: Simplify 0 into 0 25.734 * [backup-simplify]: Simplify 1 into 1 25.734 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.735 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.735 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.735 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.735 * [backup-simplify]: Simplify lambda1 into lambda1 25.735 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.735 * [taylor]: Taking taylor expansion of phi1 in phi1 25.735 * [backup-simplify]: Simplify 0 into 0 25.735 * [backup-simplify]: Simplify 1 into 1 25.735 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.735 * [taylor]: Taking taylor expansion of 2 in phi1 25.735 * [backup-simplify]: Simplify 2 into 2 25.735 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.735 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.735 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.735 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.735 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.735 * [backup-simplify]: Simplify 0.5 into 0.5 25.735 * [taylor]: Taking taylor expansion of phi1 in phi1 25.735 * [backup-simplify]: Simplify 0 into 0 25.735 * [backup-simplify]: Simplify 1 into 1 25.736 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.737 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.737 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.737 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.737 * [backup-simplify]: Simplify lambda2 into lambda2 25.737 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.737 * [backup-simplify]: Simplify lambda1 into lambda1 25.737 * [backup-simplify]: Simplify (* 1 1) into 1 25.738 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 25.738 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.738 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4) 25.738 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 4)) into (* 0.25 (pow lambda1 4)) 25.738 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda1 4))) into (* 0.25 (pow lambda1 4)) 25.739 * [backup-simplify]: Simplify (* 1 1) into 1 25.739 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.739 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.739 * [backup-simplify]: Simplify (* 1 1) into 1 25.739 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.740 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.740 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 25.740 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 25.740 * [backup-simplify]: Simplify (* 1 1) into 1 25.740 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.740 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.741 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 25.741 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 25.741 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 25.742 * [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))))) 25.742 * [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 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 25.742 * [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 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 25.742 * [taylor]: Taking taylor expansion of 1.0 in phi1 25.742 * [backup-simplify]: Simplify 1.0 into 1.0 25.742 * [taylor]: Taking taylor expansion of (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow 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 25.742 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) in phi1 25.742 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.742 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.742 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.742 * [backup-simplify]: Simplify 0.5 into 0.5 25.742 * [taylor]: Taking taylor expansion of phi1 in phi1 25.742 * [backup-simplify]: Simplify 0 into 0 25.743 * [backup-simplify]: Simplify 1 into 1 25.743 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.744 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.744 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1)) in phi1 25.744 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.745 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.745 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.745 * [backup-simplify]: Simplify 0.5 into 0.5 25.745 * [taylor]: Taking taylor expansion of phi1 in phi1 25.745 * [backup-simplify]: Simplify 0 into 0 25.745 * [backup-simplify]: Simplify 1 into 1 25.745 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.746 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.746 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 25.747 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.747 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.747 * [backup-simplify]: Simplify lambda1 into lambda1 25.747 * [taylor]: Taking taylor expansion of phi1 in phi1 25.747 * [backup-simplify]: Simplify 0 into 0 25.747 * [backup-simplify]: Simplify 1 into 1 25.747 * [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 25.747 * [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 25.747 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.747 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.747 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.747 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.747 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.747 * [backup-simplify]: Simplify 0.5 into 0.5 25.747 * [taylor]: Taking taylor expansion of phi1 in phi1 25.747 * [backup-simplify]: Simplify 0 into 0 25.747 * [backup-simplify]: Simplify 1 into 1 25.747 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.749 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.749 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.749 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.749 * [backup-simplify]: Simplify lambda2 into lambda2 25.749 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 25.749 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.749 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.749 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.749 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.749 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.749 * [backup-simplify]: Simplify 0.5 into 0.5 25.749 * [taylor]: Taking taylor expansion of phi1 in phi1 25.749 * [backup-simplify]: Simplify 0 into 0 25.749 * [backup-simplify]: Simplify 1 into 1 25.749 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.751 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.751 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.751 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.751 * [backup-simplify]: Simplify lambda1 into lambda1 25.751 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.751 * [taylor]: Taking taylor expansion of phi1 in phi1 25.751 * [backup-simplify]: Simplify 0 into 0 25.751 * [backup-simplify]: Simplify 1 into 1 25.751 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.751 * [taylor]: Taking taylor expansion of 2 in phi1 25.751 * [backup-simplify]: Simplify 2 into 2 25.751 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.751 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.751 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.751 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.751 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.751 * [backup-simplify]: Simplify 0.5 into 0.5 25.751 * [taylor]: Taking taylor expansion of phi1 in phi1 25.751 * [backup-simplify]: Simplify 0 into 0 25.751 * [backup-simplify]: Simplify 1 into 1 25.752 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.753 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.753 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.753 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.753 * [backup-simplify]: Simplify lambda2 into lambda2 25.753 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.753 * [backup-simplify]: Simplify lambda1 into lambda1 25.754 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.754 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 25.754 * [backup-simplify]: Simplify (* 0 0) into 0 25.754 * [backup-simplify]: Simplify (* 1 0) into 0 25.755 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.755 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 25.757 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.758 * [backup-simplify]: Simplify (+ (* 0 (pow lambda1 2)) (* 0.5 0)) into 0 25.758 * [backup-simplify]: Simplify (+ 0) into 0 25.759 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 25.759 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 25.760 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (+ (* 0 1) (* 0 0))) into 0 25.761 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 25.762 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 25.763 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda1 2)) (* 0 0))) into (* 0.5 (pow lambda1 2)) 25.766 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 25.767 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda1 2)) 25.767 * [backup-simplify]: Simplify (* 1 1) into 1 25.767 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.768 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.768 * [backup-simplify]: Simplify (* 1 1) into 1 25.768 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.768 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.768 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 25.769 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 25.769 * [backup-simplify]: Simplify (* 1 1) into 1 25.769 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.769 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.769 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 25.769 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 25.770 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 25.770 * [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))))) 25.770 * [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 25.770 * [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 25.770 * [taylor]: Taking taylor expansion of 0.25 in phi1 25.770 * [backup-simplify]: Simplify 0.25 into 0.25 25.771 * [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 25.771 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) in phi1 25.771 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.771 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.771 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.771 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.771 * [backup-simplify]: Simplify 0.5 into 0.5 25.771 * [taylor]: Taking taylor expansion of phi1 in phi1 25.771 * [backup-simplify]: Simplify 0 into 0 25.771 * [backup-simplify]: Simplify 1 into 1 25.771 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.773 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.773 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4)) in phi1 25.773 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 25.773 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.773 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.773 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.773 * [backup-simplify]: Simplify 0.5 into 0.5 25.773 * [taylor]: Taking taylor expansion of phi1 in phi1 25.773 * [backup-simplify]: Simplify 0 into 0 25.773 * [backup-simplify]: Simplify 1 into 1 25.773 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.775 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.777 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.777 * [taylor]: Taking taylor expansion of (pow lambda2 4) in phi1 25.777 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.777 * [backup-simplify]: Simplify lambda2 into lambda2 25.777 * [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 25.778 * [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 25.778 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.778 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.778 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.778 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.778 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.778 * [backup-simplify]: Simplify 0.5 into 0.5 25.778 * [taylor]: Taking taylor expansion of phi1 in phi1 25.778 * [backup-simplify]: Simplify 0 into 0 25.778 * [backup-simplify]: Simplify 1 into 1 25.778 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.780 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.780 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.780 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.780 * [backup-simplify]: Simplify lambda2 into lambda2 25.780 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 25.780 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.780 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.780 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.780 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.780 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.780 * [backup-simplify]: Simplify 0.5 into 0.5 25.780 * [taylor]: Taking taylor expansion of phi1 in phi1 25.780 * [backup-simplify]: Simplify 0 into 0 25.780 * [backup-simplify]: Simplify 1 into 1 25.781 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.782 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.782 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.782 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.782 * [backup-simplify]: Simplify lambda1 into lambda1 25.782 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.782 * [taylor]: Taking taylor expansion of phi1 in phi1 25.782 * [backup-simplify]: Simplify 0 into 0 25.782 * [backup-simplify]: Simplify 1 into 1 25.782 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.782 * [taylor]: Taking taylor expansion of 2 in phi1 25.782 * [backup-simplify]: Simplify 2 into 2 25.782 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.782 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.782 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.782 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.782 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.782 * [backup-simplify]: Simplify 0.5 into 0.5 25.783 * [taylor]: Taking taylor expansion of phi1 in phi1 25.783 * [backup-simplify]: Simplify 0 into 0 25.783 * [backup-simplify]: Simplify 1 into 1 25.783 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.784 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.784 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.784 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.784 * [backup-simplify]: Simplify lambda2 into lambda2 25.784 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.784 * [backup-simplify]: Simplify lambda1 into lambda1 25.785 * [backup-simplify]: Simplify (* 1 1) into 1 25.785 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 25.785 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.785 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow lambda2 2)) into (pow lambda2 4) 25.786 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 4)) into (* 0.25 (pow lambda2 4)) 25.786 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda2 4))) into (* 0.25 (pow lambda2 4)) 25.786 * [backup-simplify]: Simplify (* 1 1) into 1 25.786 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.786 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.787 * [backup-simplify]: Simplify (* 1 1) into 1 25.787 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.787 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.787 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 25.787 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 25.788 * [backup-simplify]: Simplify (* 1 1) into 1 25.788 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.788 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.788 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 25.788 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 25.788 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 25.789 * [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))))) 25.789 * [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 25.789 * [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 25.789 * [taylor]: Taking taylor expansion of 1.0 in phi1 25.789 * [backup-simplify]: Simplify 1.0 into 1.0 25.789 * [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 25.789 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) in phi1 25.789 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.789 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.789 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.789 * [backup-simplify]: Simplify 0.5 into 0.5 25.789 * [taylor]: Taking taylor expansion of phi1 in phi1 25.789 * [backup-simplify]: Simplify 0 into 0 25.789 * [backup-simplify]: Simplify 1 into 1 25.790 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.791 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.791 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1)) in phi1 25.791 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.791 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.791 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.791 * [backup-simplify]: Simplify 0.5 into 0.5 25.791 * [taylor]: Taking taylor expansion of phi1 in phi1 25.791 * [backup-simplify]: Simplify 0 into 0 25.791 * [backup-simplify]: Simplify 1 into 1 25.792 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.794 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.794 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 25.794 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.794 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.794 * [backup-simplify]: Simplify lambda2 into lambda2 25.794 * [taylor]: Taking taylor expansion of phi1 in phi1 25.794 * [backup-simplify]: Simplify 0 into 0 25.794 * [backup-simplify]: Simplify 1 into 1 25.794 * [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 25.794 * [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 25.794 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.794 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.794 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.794 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.794 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.794 * [backup-simplify]: Simplify 0.5 into 0.5 25.794 * [taylor]: Taking taylor expansion of phi1 in phi1 25.794 * [backup-simplify]: Simplify 0 into 0 25.794 * [backup-simplify]: Simplify 1 into 1 25.795 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.796 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.796 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.796 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.796 * [backup-simplify]: Simplify lambda2 into lambda2 25.796 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 25.796 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.796 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.796 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.796 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.796 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.796 * [backup-simplify]: Simplify 0.5 into 0.5 25.796 * [taylor]: Taking taylor expansion of phi1 in phi1 25.797 * [backup-simplify]: Simplify 0 into 0 25.797 * [backup-simplify]: Simplify 1 into 1 25.797 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.798 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.798 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.799 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.799 * [backup-simplify]: Simplify lambda1 into lambda1 25.799 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.799 * [taylor]: Taking taylor expansion of phi1 in phi1 25.799 * [backup-simplify]: Simplify 0 into 0 25.799 * [backup-simplify]: Simplify 1 into 1 25.799 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.799 * [taylor]: Taking taylor expansion of 2 in phi1 25.799 * [backup-simplify]: Simplify 2 into 2 25.799 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.799 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.799 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.799 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.799 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.799 * [backup-simplify]: Simplify 0.5 into 0.5 25.799 * [taylor]: Taking taylor expansion of phi1 in phi1 25.799 * [backup-simplify]: Simplify 0 into 0 25.799 * [backup-simplify]: Simplify 1 into 1 25.800 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.801 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.801 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.801 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.801 * [backup-simplify]: Simplify lambda2 into lambda2 25.801 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.801 * [backup-simplify]: Simplify lambda1 into lambda1 25.801 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.802 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 25.802 * [backup-simplify]: Simplify (* 0 0) into 0 25.802 * [backup-simplify]: Simplify (* 1 0) into 0 25.802 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.803 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 25.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.806 * [backup-simplify]: Simplify (+ (* 0 (pow lambda2 2)) (* 0.5 0)) into 0 25.807 * [backup-simplify]: Simplify (+ 0) into 0 25.807 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 25.808 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 25.809 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 1) (* 0 0))) into 0 25.810 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 25.811 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 25.812 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda2 2)) (* 0 0))) into (* 0.5 (pow lambda2 2)) 25.814 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 25.815 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda2 2)) 25.816 * [backup-simplify]: Simplify (* 1 1) into 1 25.816 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.816 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.817 * [backup-simplify]: Simplify (* 1 1) into 1 25.817 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.817 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.817 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 25.817 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 25.818 * [backup-simplify]: Simplify (* 1 1) into 1 25.818 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.818 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.818 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 25.818 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 25.818 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 25.819 * [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))))) 25.819 * [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 25.819 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.819 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.819 * [backup-simplify]: Simplify 0.5 into 0.5 25.819 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.819 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 25.819 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 25.819 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.819 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.819 * [backup-simplify]: Simplify 0.5 into 0.5 25.819 * [taylor]: Taking taylor expansion of phi1 in phi1 25.819 * [backup-simplify]: Simplify 0 into 0 25.820 * [backup-simplify]: Simplify 1 into 1 25.820 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.821 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.824 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.824 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.824 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.824 * [backup-simplify]: Simplify lambda2 into lambda2 25.824 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.824 * [backup-simplify]: Simplify lambda1 into lambda1 25.824 * [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 25.824 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 25.824 * [taylor]: Taking taylor expansion of 0.25 in phi1 25.824 * [backup-simplify]: Simplify 0.25 into 0.25 25.824 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.825 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.825 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.825 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.825 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.825 * [backup-simplify]: Simplify 0.5 into 0.5 25.825 * [taylor]: Taking taylor expansion of phi1 in phi1 25.825 * [backup-simplify]: Simplify 0 into 0 25.825 * [backup-simplify]: Simplify 1 into 1 25.825 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.827 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.827 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.827 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.827 * [backup-simplify]: Simplify lambda1 into lambda1 25.827 * [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 25.827 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.827 * [taylor]: Taking taylor expansion of phi1 in phi1 25.827 * [backup-simplify]: Simplify 0 into 0 25.827 * [backup-simplify]: Simplify 1 into 1 25.827 * [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 25.827 * [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 25.827 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 25.827 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.827 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.827 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.827 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.827 * [backup-simplify]: Simplify 0.5 into 0.5 25.827 * [taylor]: Taking taylor expansion of phi1 in phi1 25.827 * [backup-simplify]: Simplify 0 into 0 25.827 * [backup-simplify]: Simplify 1 into 1 25.828 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.829 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.829 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 25.829 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.829 * [backup-simplify]: Simplify lambda2 into lambda2 25.829 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 25.829 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 25.829 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.829 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.829 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.829 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.829 * [backup-simplify]: Simplify 0.5 into 0.5 25.830 * [taylor]: Taking taylor expansion of phi1 in phi1 25.830 * [backup-simplify]: Simplify 0 into 0 25.830 * [backup-simplify]: Simplify 1 into 1 25.830 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.831 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.831 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 25.831 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.831 * [backup-simplify]: Simplify lambda1 into lambda1 25.832 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 25.832 * [taylor]: Taking taylor expansion of phi1 in phi1 25.832 * [backup-simplify]: Simplify 0 into 0 25.832 * [backup-simplify]: Simplify 1 into 1 25.832 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 25.832 * [taylor]: Taking taylor expansion of 2 in phi1 25.832 * [backup-simplify]: Simplify 2 into 2 25.832 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 25.832 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 25.832 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 25.832 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 25.832 * [taylor]: Taking taylor expansion of 0.5 in phi1 25.832 * [backup-simplify]: Simplify 0.5 into 0.5 25.832 * [taylor]: Taking taylor expansion of phi1 in phi1 25.832 * [backup-simplify]: Simplify 0 into 0 25.832 * [backup-simplify]: Simplify 1 into 1 25.832 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.834 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 25.834 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 25.834 * [taylor]: Taking taylor expansion of lambda2 in phi1 25.834 * [backup-simplify]: Simplify lambda2 into lambda2 25.834 * [taylor]: Taking taylor expansion of lambda1 in phi1 25.834 * [backup-simplify]: Simplify lambda1 into lambda1 25.834 * [backup-simplify]: Simplify (* 1 1) into 1 25.834 * [backup-simplify]: Simplify (* 1 1) into 1 25.834 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.835 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.835 * [backup-simplify]: Simplify (* 1 1) into 1 25.835 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.835 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.835 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 25.836 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 25.844 * [backup-simplify]: Simplify (* 1 1) into 1 25.844 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.844 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.844 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 25.844 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 25.845 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 25.845 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 25.846 * [backup-simplify]: Simplify (* 1 1) into 1 25.846 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 25.846 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 25.846 * [backup-simplify]: Simplify (* 0.5 (* lambda2 lambda1)) into (* 0.5 (* lambda2 lambda1)) 25.847 * [backup-simplify]: Simplify (+ 0 1) into 1 25.847 * [backup-simplify]: Simplify (+ 0 1) into 1 25.847 * [backup-simplify]: Simplify (+ 0 1) into 1 25.848 * [backup-simplify]: Simplify (+ 0 1) into 1 25.848 * [backup-simplify]: Simplify (+ (* 0.5 (* lambda2 lambda1)) 1) into (+ 1 (* 0.5 (* lambda2 lambda1))) 25.848 * [backup-simplify]: Simplify (+ 0 (+ 1 (* 0.5 (* lambda2 lambda1)))) into (+ (* 0.5 (* lambda2 lambda1)) 1) 25.848 * [backup-simplify]: Simplify (* 1 1) into 1 25.848 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.849 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 25.849 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 25.849 * [backup-simplify]: Simplify (* 1 1) into 1 25.849 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.849 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 25.849 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 25.850 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2)) 25.850 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 25.850 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 25.850 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 25.850 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 25.850 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 25.851 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 25.851 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda2 2)) (* 0.25 (pow lambda1 2))) into (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) 25.851 * [backup-simplify]: Simplify (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) into (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 25.852 * [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)))) 25.853 * [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)))))) 25.854 * [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))))))) 25.854 * [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 lambda1 25.854 * [taylor]: Taking taylor expansion of 1/2 in lambda1 25.854 * [backup-simplify]: Simplify 1/2 into 1/2 25.854 * [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 lambda1 25.854 * [taylor]: Taking taylor expansion of (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda1 25.854 * [taylor]: Taking taylor expansion of (+ (* 0.5 (* lambda2 lambda1)) 1) in lambda1 25.854 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda1 25.854 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.854 * [backup-simplify]: Simplify 0.5 into 0.5 25.854 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 25.854 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.854 * [backup-simplify]: Simplify lambda2 into lambda2 25.854 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.854 * [backup-simplify]: Simplify 0 into 0 25.854 * [backup-simplify]: Simplify 1 into 1 25.854 * [taylor]: Taking taylor expansion of 1 in lambda1 25.854 * [backup-simplify]: Simplify 1 into 1 25.854 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda1 25.854 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 25.854 * [taylor]: Taking taylor expansion of 0.25 in lambda1 25.854 * [backup-simplify]: Simplify 0.25 into 0.25 25.854 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.854 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.854 * [backup-simplify]: Simplify 0 into 0 25.854 * [backup-simplify]: Simplify 1 into 1 25.854 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda1 25.855 * [taylor]: Taking taylor expansion of 0.25 in lambda1 25.855 * [backup-simplify]: Simplify 0.25 into 0.25 25.855 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.855 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.855 * [backup-simplify]: Simplify lambda2 into lambda2 25.855 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 25.855 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 25.855 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 25.855 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 25.855 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.855 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.855 * [backup-simplify]: Simplify 0 into 0 25.855 * [backup-simplify]: Simplify 1 into 1 25.855 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.855 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.855 * [backup-simplify]: Simplify lambda2 into lambda2 25.855 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 25.855 * [taylor]: Taking taylor expansion of 2 in lambda1 25.855 * [backup-simplify]: Simplify 2 into 2 25.855 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 25.855 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.855 * [backup-simplify]: Simplify lambda2 into lambda2 25.855 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.855 * [backup-simplify]: Simplify 0 into 0 25.855 * [backup-simplify]: Simplify 1 into 1 25.855 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.855 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 25.856 * [backup-simplify]: Simplify (* lambda2 0) into 0 25.856 * [backup-simplify]: Simplify (* 2 0) into 0 25.857 * [backup-simplify]: Simplify (- 0) into 0 25.857 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 25.857 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 25.857 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 25.857 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.857 * [backup-simplify]: Simplify (+ 0 0) into 0 25.858 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 25.858 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 25.858 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 25.859 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 25.859 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 25.859 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 25.859 * [backup-simplify]: Simplify (* lambda2 0) into 0 25.860 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.860 * [backup-simplify]: Simplify (+ 0 1) into 1 25.860 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.860 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 25.860 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda2 2))) into (* 0.25 (pow lambda2 2)) 25.860 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda2 2))) into (- (* 0.25 (pow lambda2 2))) 25.860 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda2 2)))) into (- 1 (* 0.25 (pow lambda2 2))) 25.861 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda2 2))) (/ 1 lambda2)) into (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) 25.861 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) 25.861 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) in lambda2 25.861 * [taylor]: Taking taylor expansion of 1/2 in lambda2 25.861 * [backup-simplify]: Simplify 1/2 into 1/2 25.861 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) in lambda2 25.861 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda2 2))) in lambda2 25.861 * [taylor]: Taking taylor expansion of 1 in lambda2 25.861 * [backup-simplify]: Simplify 1 into 1 25.861 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 25.861 * [taylor]: Taking taylor expansion of 0.25 in lambda2 25.861 * [backup-simplify]: Simplify 0.25 into 0.25 25.861 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 25.861 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.861 * [backup-simplify]: Simplify 0 into 0 25.861 * [backup-simplify]: Simplify 1 into 1 25.861 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.861 * [backup-simplify]: Simplify 0 into 0 25.861 * [backup-simplify]: Simplify 1 into 1 25.861 * [backup-simplify]: Simplify (+ 1 0) into 1 25.862 * [backup-simplify]: Simplify (/ 1 1) into 1 25.862 * [backup-simplify]: Simplify (+ 0 0) into 0 25.862 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 25.863 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 25.863 * [backup-simplify]: Simplify 0 into 0 25.863 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 25.864 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.865 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* lambda2 lambda1))) into (* 0.5 (* lambda2 lambda1)) 25.865 * [backup-simplify]: Simplify (+ 0) into 0 25.865 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 0.5 (* lambda2 lambda1)) 25.865 * [backup-simplify]: Simplify (+ (* 2.0 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 1.0 (* lambda2 lambda1)) 25.866 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 25.867 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.867 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 25.868 * [backup-simplify]: Simplify (+ 0) into 0 25.868 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 25.868 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 25.868 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.870 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 25.870 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 25.870 * [backup-simplify]: Simplify (+ 0) into 0 25.871 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 25.871 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 25.872 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2 25.872 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda2 2)) 2) into (+ (* 0.5 (pow lambda2 2)) 2) 25.872 * [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)) 25.872 * [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))) 25.873 * [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))))) 25.874 * [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)))))) 25.876 * [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)))))))) 25.876 * [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 lambda1 25.876 * [taylor]: Taking taylor expansion of (* 0.5 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (* lambda2 lambda1))) in lambda1 25.876 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.876 * [backup-simplify]: Simplify 0.5 into 0.5 25.876 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (* lambda2 lambda1)) in lambda1 25.876 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 25.876 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 25.876 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 25.876 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 25.876 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.876 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.876 * [backup-simplify]: Simplify 0 into 0 25.876 * [backup-simplify]: Simplify 1 into 1 25.876 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.876 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.876 * [backup-simplify]: Simplify lambda2 into lambda2 25.876 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 25.876 * [taylor]: Taking taylor expansion of 2 in lambda1 25.876 * [backup-simplify]: Simplify 2 into 2 25.876 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 25.876 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.876 * [backup-simplify]: Simplify lambda2 into lambda2 25.876 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.876 * [backup-simplify]: Simplify 0 into 0 25.876 * [backup-simplify]: Simplify 1 into 1 25.876 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.876 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 25.876 * [backup-simplify]: Simplify (* lambda2 0) into 0 25.877 * [backup-simplify]: Simplify (* 2 0) into 0 25.877 * [backup-simplify]: Simplify (- 0) into 0 25.877 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 25.877 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 25.877 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 25.877 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.877 * [backup-simplify]: Simplify (+ 0 0) into 0 25.878 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 25.878 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 25.878 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 25.878 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 25.878 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 25.878 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 25.878 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 25.879 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.879 * [backup-simplify]: Simplify lambda2 into lambda2 25.879 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.879 * [backup-simplify]: Simplify 0 into 0 25.879 * [backup-simplify]: Simplify 1 into 1 25.879 * [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 lambda1 25.879 * [taylor]: Taking taylor expansion of (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2))) in lambda1 25.879 * [taylor]: Taking taylor expansion of 0.25 in lambda1 25.879 * [backup-simplify]: Simplify 0.25 into 0.25 25.879 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2)) in lambda1 25.879 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 25.879 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 25.879 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 25.879 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 25.879 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.879 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.879 * [backup-simplify]: Simplify 0 into 0 25.879 * [backup-simplify]: Simplify 1 into 1 25.879 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.879 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.879 * [backup-simplify]: Simplify lambda2 into lambda2 25.879 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 25.879 * [taylor]: Taking taylor expansion of 2 in lambda1 25.879 * [backup-simplify]: Simplify 2 into 2 25.879 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 25.879 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.879 * [backup-simplify]: Simplify lambda2 into lambda2 25.879 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.879 * [backup-simplify]: Simplify 0 into 0 25.879 * [backup-simplify]: Simplify 1 into 1 25.879 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.879 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 25.879 * [backup-simplify]: Simplify (* lambda2 0) into 0 25.879 * [backup-simplify]: Simplify (* 2 0) into 0 25.880 * [backup-simplify]: Simplify (- 0) into 0 25.880 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 25.880 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 25.880 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 25.880 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.880 * [backup-simplify]: Simplify (+ 0 0) into 0 25.881 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 25.881 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 25.881 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 25.881 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 25.881 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 25.881 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 25.881 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.881 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.881 * [backup-simplify]: Simplify lambda2 into lambda2 25.881 * [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 lambda1 25.881 * [taylor]: Taking taylor expansion of (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2))) in lambda1 25.881 * [taylor]: Taking taylor expansion of 0.25 in lambda1 25.882 * [backup-simplify]: Simplify 0.25 into 0.25 25.882 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2)) in lambda1 25.882 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 25.882 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 25.882 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 25.882 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 25.882 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.882 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.882 * [backup-simplify]: Simplify 0 into 0 25.882 * [backup-simplify]: Simplify 1 into 1 25.882 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.882 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.882 * [backup-simplify]: Simplify lambda2 into lambda2 25.882 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 25.882 * [taylor]: Taking taylor expansion of 2 in lambda1 25.882 * [backup-simplify]: Simplify 2 into 2 25.882 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 25.882 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.882 * [backup-simplify]: Simplify lambda2 into lambda2 25.882 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.882 * [backup-simplify]: Simplify 0 into 0 25.882 * [backup-simplify]: Simplify 1 into 1 25.882 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.882 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 25.882 * [backup-simplify]: Simplify (* lambda2 0) into 0 25.882 * [backup-simplify]: Simplify (* 2 0) into 0 25.883 * [backup-simplify]: Simplify (- 0) into 0 25.883 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 25.883 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 25.883 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 25.883 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.883 * [backup-simplify]: Simplify (+ 0 0) into 0 25.883 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 25.884 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 25.884 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 25.884 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 25.884 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 25.884 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 25.884 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.884 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.884 * [backup-simplify]: Simplify 0 into 0 25.884 * [backup-simplify]: Simplify 1 into 1 25.884 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 25.884 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 25.884 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 25.884 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 25.884 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.884 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.884 * [backup-simplify]: Simplify 0 into 0 25.884 * [backup-simplify]: Simplify 1 into 1 25.884 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.885 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.885 * [backup-simplify]: Simplify lambda2 into lambda2 25.885 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 25.885 * [taylor]: Taking taylor expansion of 2 in lambda1 25.885 * [backup-simplify]: Simplify 2 into 2 25.885 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 25.885 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.885 * [backup-simplify]: Simplify lambda2 into lambda2 25.885 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.885 * [backup-simplify]: Simplify 0 into 0 25.885 * [backup-simplify]: Simplify 1 into 1 25.885 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.885 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 25.885 * [backup-simplify]: Simplify (* lambda2 0) into 0 25.885 * [backup-simplify]: Simplify (* 2 0) into 0 25.885 * [backup-simplify]: Simplify (- 0) into 0 25.885 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 25.886 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 25.886 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 25.886 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.886 * [backup-simplify]: Simplify (+ 0 0) into 0 25.886 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 25.886 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 25.887 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 25.887 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 25.887 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 25.887 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 25.887 * [backup-simplify]: Simplify (* lambda2 0) into 0 25.887 * [backup-simplify]: Simplify (* (/ 1 lambda2) 0) into 0 25.887 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.887 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.888 * [backup-simplify]: Simplify (* (/ 1 lambda2) (pow lambda2 2)) into lambda2 25.888 * [backup-simplify]: Simplify (* 0.25 lambda2) into (* 0.25 lambda2) 25.888 * [backup-simplify]: Simplify (+ 0 (/ 1 lambda2)) into (/ 1 lambda2) 25.888 * [backup-simplify]: Simplify (+ (* 0.25 lambda2) (/ 1 lambda2)) into (+ (* 0.25 lambda2) (/ 1 lambda2)) 25.888 * [backup-simplify]: Simplify (- (+ (* 0.25 lambda2) (/ 1 lambda2))) into (- (+ (* 0.25 lambda2) (/ 1 lambda2))) 25.888 * [backup-simplify]: Simplify (+ 0 (- (+ (* 0.25 lambda2) (/ 1 lambda2)))) into (- (+ (* 0.25 lambda2) (/ 1 lambda2))) 25.888 * [taylor]: Taking taylor expansion of (- (+ (* 0.25 lambda2) (/ 1 lambda2))) in lambda2 25.888 * [taylor]: Taking taylor expansion of (+ (* 0.25 lambda2) (/ 1 lambda2)) in lambda2 25.888 * [taylor]: Taking taylor expansion of (* 0.25 lambda2) in lambda2 25.888 * [taylor]: Taking taylor expansion of 0.25 in lambda2 25.888 * [backup-simplify]: Simplify 0.25 into 0.25 25.888 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.888 * [backup-simplify]: Simplify 0 into 0 25.888 * [backup-simplify]: Simplify 1 into 1 25.888 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 25.888 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.888 * [backup-simplify]: Simplify 0 into 0 25.888 * [backup-simplify]: Simplify 1 into 1 25.888 * [backup-simplify]: Simplify (/ 1 1) into 1 25.889 * [backup-simplify]: Simplify (* 0.25 0) into 0 25.889 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 25.889 * [backup-simplify]: Simplify (+ 0 0) into 0 25.890 * [backup-simplify]: Simplify (- 0) into 0 25.890 * [backup-simplify]: Simplify 0 into 0 25.890 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 25.892 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 25.894 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 25.895 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda2 2)))) into (- (* 0.25 (pow lambda2 2))) 25.895 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 25.896 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 25.899 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 25.899 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 25.900 * [backup-simplify]: Simplify (* 1 1) into 1 25.900 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda1 2))) 1) into (- 1 (* 0.25 (pow lambda1 2))) 25.900 * [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)))) 25.901 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 25.904 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 25.908 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 25.909 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* lambda2 lambda1)))) into (- (* 0.25 (* lambda2 lambda1))) 25.910 * [backup-simplify]: Simplify (+ (* 2 (- (* 0.25 (* lambda2 lambda1)))) (+ (* 0 0) (* 0 (* lambda2 lambda1)))) into (- (* 0.5 (* lambda2 lambda1))) 25.910 * [backup-simplify]: Simplify (- (- (* 0.5 (* lambda2 lambda1)))) into (* 0.5 (* lambda2 lambda1)) 25.911 * [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)))) 25.913 * [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))))))) 25.913 * [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 lambda1 25.913 * [taylor]: Taking taylor expansion of 1/2 in lambda1 25.913 * [backup-simplify]: Simplify 1/2 into 1/2 25.913 * [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 lambda1 25.913 * [taylor]: Taking taylor expansion of (- (+ 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda1 25.913 * [taylor]: Taking taylor expansion of (+ 1 (* 0.5 (* lambda2 lambda1))) in lambda1 25.913 * [taylor]: Taking taylor expansion of 1 in lambda1 25.913 * [backup-simplify]: Simplify 1 into 1 25.913 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda1 25.913 * [taylor]: Taking taylor expansion of 0.5 in lambda1 25.913 * [backup-simplify]: Simplify 0.5 into 0.5 25.913 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 25.913 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.913 * [backup-simplify]: Simplify lambda2 into lambda2 25.913 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.913 * [backup-simplify]: Simplify 0 into 0 25.913 * [backup-simplify]: Simplify 1 into 1 25.913 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda1 25.913 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 25.913 * [taylor]: Taking taylor expansion of 0.25 in lambda1 25.913 * [backup-simplify]: Simplify 0.25 into 0.25 25.913 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.913 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.913 * [backup-simplify]: Simplify 0 into 0 25.913 * [backup-simplify]: Simplify 1 into 1 25.913 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda1 25.913 * [taylor]: Taking taylor expansion of 0.25 in lambda1 25.914 * [backup-simplify]: Simplify 0.25 into 0.25 25.914 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.914 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.914 * [backup-simplify]: Simplify lambda2 into lambda2 25.914 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda1 25.914 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda1 25.914 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda1 25.914 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda1 25.914 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 25.914 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.914 * [backup-simplify]: Simplify 0 into 0 25.914 * [backup-simplify]: Simplify 1 into 1 25.914 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 25.914 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.914 * [backup-simplify]: Simplify lambda2 into lambda2 25.914 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda1 25.914 * [taylor]: Taking taylor expansion of 2 in lambda1 25.914 * [backup-simplify]: Simplify 2 into 2 25.914 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 25.914 * [taylor]: Taking taylor expansion of lambda2 in lambda1 25.914 * [backup-simplify]: Simplify lambda2 into lambda2 25.914 * [taylor]: Taking taylor expansion of lambda1 in lambda1 25.914 * [backup-simplify]: Simplify 0 into 0 25.914 * [backup-simplify]: Simplify 1 into 1 25.914 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.914 * [backup-simplify]: Simplify (+ 0 (pow lambda2 2)) into (pow lambda2 2) 25.915 * [backup-simplify]: Simplify (* lambda2 0) into 0 25.915 * [backup-simplify]: Simplify (* 2 0) into 0 25.915 * [backup-simplify]: Simplify (- 0) into 0 25.916 * [backup-simplify]: Simplify (+ (pow lambda2 2) 0) into (pow lambda2 2) 25.916 * [backup-simplify]: Simplify (/ 1 (pow lambda2 2)) into (/ 1 (pow lambda2 2)) 25.916 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda2 2))) into (/ 1 lambda2) 25.916 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 25.916 * [backup-simplify]: Simplify (+ 0 0) into 0 25.917 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 25.917 * [backup-simplify]: Simplify (+ (* 2 lambda2) (* 0 0)) into (* 2 lambda2) 25.917 * [backup-simplify]: Simplify (- (* 2 lambda2)) into (- (* 2 lambda2)) 25.917 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda2))) into (- (* 2 lambda2)) 25.918 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda2 2)) (/ (- (* 2 lambda2)) (pow lambda2 2))))) into (* 2 (/ 1 (pow lambda2 3))) 25.918 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda2 3))) (* 2 (sqrt (/ 1 (pow lambda2 2))))) into (/ 1 (pow lambda2 2)) 25.918 * [backup-simplify]: Simplify (* lambda2 0) into 0 25.919 * [backup-simplify]: Simplify (* 0.5 0) into 0 25.919 * [backup-simplify]: Simplify (+ 1 0) into 1 25.919 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 25.919 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 25.920 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda2 2))) into (* 0.25 (pow lambda2 2)) 25.920 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda2 2))) into (- (* 0.25 (pow lambda2 2))) 25.920 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda2 2)))) into (- 1 (* 0.25 (pow lambda2 2))) 25.920 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda2 2))) (/ 1 lambda2)) into (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) 25.920 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) 25.920 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2)) in lambda2 25.920 * [taylor]: Taking taylor expansion of 1/2 in lambda2 25.920 * [backup-simplify]: Simplify 1/2 into 1/2 25.921 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda2 2))) lambda2) in lambda2 25.921 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda2 2))) in lambda2 25.921 * [taylor]: Taking taylor expansion of 1 in lambda2 25.921 * [backup-simplify]: Simplify 1 into 1 25.921 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 25.921 * [taylor]: Taking taylor expansion of 0.25 in lambda2 25.921 * [backup-simplify]: Simplify 0.25 into 0.25 25.921 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 25.921 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.921 * [backup-simplify]: Simplify 0 into 0 25.921 * [backup-simplify]: Simplify 1 into 1 25.921 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.921 * [backup-simplify]: Simplify 0 into 0 25.921 * [backup-simplify]: Simplify 1 into 1 25.921 * [backup-simplify]: Simplify (+ 1 0) into 1 25.922 * [backup-simplify]: Simplify (/ 1 1) into 1 25.922 * [backup-simplify]: Simplify (+ 0 0) into 0 25.923 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 25.923 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 25.924 * [backup-simplify]: Simplify 0 into 0 25.924 * [taylor]: Taking taylor expansion of 0 in lambda2 25.924 * [backup-simplify]: Simplify 0 into 0 25.924 * [backup-simplify]: Simplify 0 into 0 25.924 * [taylor]: Taking taylor expansion of 0 in lambda2 25.924 * [backup-simplify]: Simplify 0 into 0 25.924 * [backup-simplify]: Simplify 0 into 0 25.924 * [backup-simplify]: Simplify (* 1 1) into 1 25.925 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 25.925 * [backup-simplify]: Simplify (+ 1 0) into 1 25.926 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 25.927 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 lambda2) (* 0 0))) into 0 25.927 * [backup-simplify]: Simplify (- 0) into 0 25.927 * [backup-simplify]: Simplify (+ 1 0) into 1 25.928 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 lambda2)) into 0 25.928 * [taylor]: Taking taylor expansion of 0 in lambda2 25.928 * [backup-simplify]: Simplify 0 into 0 25.928 * [backup-simplify]: Simplify 0 into 0 25.929 * [backup-simplify]: Simplify (+ (* 1 (* lambda2 (* 1 (* 1 1)))) (* -1 (* 1 (* lambda1 (* 1 1))))) into (- lambda2 lambda1) 25.933 * [backup-simplify]: Simplify (sqrt (+ (- (* (pow (- (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5))) (* (sin (* 0.5 (/ 1 phi2))) (sin (* 0.5 (/ 1 phi1))))) 2) (+ (pow (/ 1 lambda1) 2) (pow (/ 1 lambda2) 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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) 25.933 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in (phi2 phi1 lambda1 lambda2) around 0 25.933 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in lambda2 25.933 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda2 25.933 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in lambda2 25.933 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 25.933 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 25.933 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 25.933 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 25.933 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 25.933 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.933 * [backup-simplify]: Simplify 0.5 into 0.5 25.933 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.933 * [backup-simplify]: Simplify phi1 into phi1 25.933 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 25.934 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 25.934 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 25.934 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 25.934 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 25.934 * [backup-simplify]: Simplify (- 0) into 0 25.935 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 25.935 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 25.935 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 25.935 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 25.935 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.935 * [backup-simplify]: Simplify 0.5 into 0.5 25.935 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.935 * [backup-simplify]: Simplify phi2 into phi2 25.935 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 25.935 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 25.935 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 25.935 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 25.935 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 25.936 * [backup-simplify]: Simplify (- 0) into 0 25.936 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 25.936 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 25.936 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.936 * [backup-simplify]: Simplify 0 into 0 25.936 * [backup-simplify]: Simplify 1 into 1 25.936 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 25.936 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 25.937 * [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)) 25.937 * [backup-simplify]: Simplify (* 1 1) into 1 25.937 * [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)) 25.937 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in lambda2 25.938 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2 25.938 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 25.938 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 25.938 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 25.938 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 25.938 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.938 * [backup-simplify]: Simplify 0.5 into 0.5 25.938 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.938 * [backup-simplify]: Simplify phi1 into phi1 25.938 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 25.938 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 25.938 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 25.938 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 25.938 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 25.939 * [backup-simplify]: Simplify (- 0) into 0 25.939 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 25.939 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 25.939 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 25.939 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 25.939 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.939 * [backup-simplify]: Simplify 0.5 into 0.5 25.939 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.939 * [backup-simplify]: Simplify phi2 into phi2 25.939 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 25.939 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 25.939 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 25.939 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 25.940 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 25.940 * [backup-simplify]: Simplify (- 0) into 0 25.940 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 25.940 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 25.940 * [taylor]: Taking taylor expansion of lambda1 in lambda2 25.940 * [backup-simplify]: Simplify lambda1 into lambda1 25.940 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 25.941 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 25.941 * [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)) 25.941 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.941 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 25.942 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda2 25.942 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 25.942 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 25.942 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.942 * [backup-simplify]: Simplify phi2 into phi2 25.942 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 25.942 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 25.942 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2 25.942 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2 25.942 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 25.942 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 25.942 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 25.942 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 25.942 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.942 * [backup-simplify]: Simplify 0.5 into 0.5 25.942 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.942 * [backup-simplify]: Simplify phi1 into phi1 25.942 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 25.942 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 25.943 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 25.943 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 25.943 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 25.943 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 25.943 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 25.943 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 25.943 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 25.943 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.943 * [backup-simplify]: Simplify 0.5 into 0.5 25.943 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.943 * [backup-simplify]: Simplify phi2 into phi2 25.943 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 25.943 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 25.944 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 25.944 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 25.944 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 25.944 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 25.944 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 25.944 * [taylor]: Taking taylor expansion of lambda1 in lambda2 25.944 * [backup-simplify]: Simplify lambda1 into lambda1 25.944 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 25.944 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 25.945 * [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)) 25.945 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.945 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 25.945 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2 25.945 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 25.945 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 25.945 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.945 * [backup-simplify]: Simplify phi1 into phi1 25.946 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 25.946 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 25.946 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 25.946 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 25.946 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 25.946 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 25.946 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 25.946 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.946 * [backup-simplify]: Simplify 0.5 into 0.5 25.946 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.946 * [backup-simplify]: Simplify phi1 into phi1 25.946 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 25.946 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 25.946 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 25.946 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 25.946 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 25.947 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 25.947 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 25.947 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 25.947 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 25.947 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.947 * [backup-simplify]: Simplify 0.5 into 0.5 25.947 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.947 * [backup-simplify]: Simplify phi2 into phi2 25.947 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 25.947 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 25.947 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 25.947 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 25.947 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 25.947 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 25.947 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 25.948 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.948 * [backup-simplify]: Simplify 0 into 0 25.948 * [backup-simplify]: Simplify 1 into 1 25.948 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 25.948 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 25.948 * [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)) 25.949 * [backup-simplify]: Simplify (* 1 1) into 1 25.949 * [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)) 25.949 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda2 25.949 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 25.949 * [taylor]: Taking taylor expansion of 2 in lambda2 25.949 * [backup-simplify]: Simplify 2 into 2 25.949 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 25.949 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 25.950 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 25.950 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 25.950 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.950 * [backup-simplify]: Simplify 0.5 into 0.5 25.950 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 25.950 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 25.950 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.950 * [backup-simplify]: Simplify phi1 into phi1 25.950 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 25.950 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 25.950 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.950 * [backup-simplify]: Simplify phi2 into phi2 25.950 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 25.950 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 25.950 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 25.950 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 25.951 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 25.951 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 25.951 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 25.952 * [backup-simplify]: Simplify (- 0) into 0 25.952 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 25.952 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 25.952 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.952 * [backup-simplify]: Simplify 0 into 0 25.952 * [backup-simplify]: Simplify 1 into 1 25.952 * [taylor]: Taking taylor expansion of lambda1 in lambda2 25.952 * [backup-simplify]: Simplify lambda1 into lambda1 25.952 * [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) 25.952 * [backup-simplify]: Simplify (* 0 lambda1) into 0 25.953 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 25.953 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 25.953 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda2 25.954 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 25.954 * [taylor]: Taking taylor expansion of 2 in lambda2 25.954 * [backup-simplify]: Simplify 2 into 2 25.954 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 25.954 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 25.954 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.954 * [backup-simplify]: Simplify phi2 into phi2 25.954 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.954 * [backup-simplify]: Simplify phi1 into phi1 25.954 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 25.954 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 25.954 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda2 25.954 * [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 25.954 * [taylor]: Taking taylor expansion of 2 in lambda2 25.954 * [backup-simplify]: Simplify 2 into 2 25.954 * [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 25.954 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 25.954 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 25.954 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 25.954 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.954 * [backup-simplify]: Simplify 0.5 into 0.5 25.954 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.954 * [backup-simplify]: Simplify phi1 into phi1 25.954 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 25.954 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 25.954 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 25.954 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 25.954 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 25.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 25.955 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.955 * [backup-simplify]: Simplify 0.5 into 0.5 25.955 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.955 * [backup-simplify]: Simplify phi1 into phi1 25.955 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 25.955 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 25.955 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 25.955 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 25.955 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 25.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 25.955 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.955 * [backup-simplify]: Simplify 0.5 into 0.5 25.955 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.955 * [backup-simplify]: Simplify phi2 into phi2 25.955 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 25.955 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 25.955 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 25.955 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 25.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 25.955 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.955 * [backup-simplify]: Simplify 0.5 into 0.5 25.955 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.955 * [backup-simplify]: Simplify phi2 into phi2 25.956 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 25.956 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 25.956 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 25.956 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 25.956 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.956 * [backup-simplify]: Simplify 0 into 0 25.956 * [backup-simplify]: Simplify 1 into 1 25.956 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 25.956 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 25.957 * [backup-simplify]: Simplify (- 0) into 0 25.957 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 25.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 25.957 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 25.957 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 25.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 25.957 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 25.957 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 25.958 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 25.958 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 25.958 * [backup-simplify]: Simplify (- 0) into 0 25.958 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 25.958 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 25.959 * [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)))) 25.959 * [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))))) 25.960 * [backup-simplify]: Simplify (* 1 1) into 1 25.960 * [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))))) 25.960 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda2 25.960 * [taylor]: Taking taylor expansion of 2 in lambda2 25.960 * [backup-simplify]: Simplify 2 into 2 25.960 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda2 25.960 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 25.960 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 25.960 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 25.960 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.960 * [backup-simplify]: Simplify 0.5 into 0.5 25.960 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.960 * [backup-simplify]: Simplify phi1 into phi1 25.960 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 25.961 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 25.961 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 25.961 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 25.961 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 25.961 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 25.961 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.961 * [backup-simplify]: Simplify 0.5 into 0.5 25.961 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.961 * [backup-simplify]: Simplify phi1 into phi1 25.961 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 25.961 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 25.962 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 25.962 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 25.962 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 25.962 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 25.962 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.962 * [backup-simplify]: Simplify 0.5 into 0.5 25.962 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.962 * [backup-simplify]: Simplify phi2 into phi2 25.962 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 25.962 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 25.962 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 25.962 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 25.962 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 25.962 * [taylor]: Taking taylor expansion of 0.5 in lambda2 25.962 * [backup-simplify]: Simplify 0.5 into 0.5 25.962 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.962 * [backup-simplify]: Simplify phi2 into phi2 25.962 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 25.962 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 25.963 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 25.963 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 25.963 * [taylor]: Taking taylor expansion of lambda1 in lambda2 25.963 * [backup-simplify]: Simplify lambda1 into lambda1 25.963 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 25.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 25.963 * [backup-simplify]: Simplify (- 0) into 0 25.964 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 25.964 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 25.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 25.964 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 25.964 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 25.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 25.964 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 25.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 25.964 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 25.965 * [backup-simplify]: Simplify (- 0) into 0 25.965 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 25.965 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 25.965 * [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)))) 25.966 * [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))))) 25.966 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 25.967 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 25.967 * [backup-simplify]: Simplify (+ 0 (* (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)) 25.967 * [backup-simplify]: Simplify (+ 0 (* (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)) 25.968 * [backup-simplify]: Simplify (+ 0 (* (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)) 25.968 * [backup-simplify]: Simplify (+ 0 (* (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)) 25.969 * [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))) 25.969 * [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)))))) 25.970 * [backup-simplify]: Simplify (+ (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 0) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 25.970 * [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)))))) 25.971 * [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)))))) 25.971 * [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))))))) 25.973 * [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))))))) 25.974 * [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)))))))) 25.975 * [backup-simplify]: Simplify (+ 0) into 0 25.975 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 25.975 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 25.976 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.977 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 25.977 * [backup-simplify]: Simplify (- 0) into 0 25.977 * [backup-simplify]: Simplify (+ 0 0) into 0 25.978 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 25.978 * [backup-simplify]: Simplify (+ 0) into 0 25.979 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 25.979 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 25.980 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.980 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 25.980 * [backup-simplify]: Simplify (- 0) into 0 25.981 * [backup-simplify]: Simplify (+ 0 0) into 0 25.981 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 25.981 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 25.982 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.983 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 25.983 * [backup-simplify]: Simplify (+ 0) into 0 25.984 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 25.984 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 25.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.985 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 25.986 * [backup-simplify]: Simplify (+ 0 0) into 0 25.986 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 25.986 * [backup-simplify]: Simplify (+ 0) into 0 25.994 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 25.994 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 25.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 25.996 * [backup-simplify]: Simplify (+ 0 0) into 0 25.996 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 25.996 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 25.997 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 25.998 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 25.998 * [backup-simplify]: Simplify (+ 0 0) into 0 25.998 * [backup-simplify]: Simplify (+ 0 0) into 0 25.998 * [backup-simplify]: Simplify (+ 0 0) into 0 25.999 * [backup-simplify]: Simplify (+ 0 0) into 0 25.999 * [backup-simplify]: Simplify (+ 0 0) into 0 25.999 * [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)) 25.999 * [backup-simplify]: Simplify (+ 0) into 0 26.000 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.000 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.001 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.001 * [backup-simplify]: Simplify (- 0) into 0 26.001 * [backup-simplify]: Simplify (+ 0 0) into 0 26.001 * [backup-simplify]: Simplify (+ 0) into 0 26.002 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.002 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.002 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.003 * [backup-simplify]: Simplify (+ 0 0) into 0 26.003 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 26.003 * [backup-simplify]: Simplify (+ 0) into 0 26.004 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.004 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.004 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.005 * [backup-simplify]: Simplify (+ 0 0) into 0 26.005 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 26.005 * [backup-simplify]: Simplify (+ 0) into 0 26.005 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.006 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.006 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.007 * [backup-simplify]: Simplify (- 0) into 0 26.007 * [backup-simplify]: Simplify (+ 0 0) into 0 26.007 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 26.007 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.008 * [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 26.009 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 26.009 * [backup-simplify]: Simplify (+ 0 0) into 0 26.009 * [backup-simplify]: Simplify (+ 0 0) into 0 26.009 * [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)) 26.010 * [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))) 26.010 * [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))) 26.011 * [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))) 26.011 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in lambda1 26.011 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda1 26.011 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in lambda1 26.011 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 26.011 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 26.011 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 26.011 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 26.011 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.011 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.011 * [backup-simplify]: Simplify 0.5 into 0.5 26.011 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.011 * [backup-simplify]: Simplify phi1 into phi1 26.012 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.012 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.012 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.012 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.012 * [backup-simplify]: Simplify (- 0) into 0 26.012 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.012 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 26.012 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 26.012 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.012 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.012 * [backup-simplify]: Simplify 0.5 into 0.5 26.012 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.012 * [backup-simplify]: Simplify phi2 into phi2 26.012 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.012 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.012 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.012 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.013 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.013 * [backup-simplify]: Simplify (- 0) into 0 26.013 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.013 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.013 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.013 * [backup-simplify]: Simplify lambda2 into lambda2 26.013 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.013 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.013 * [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)) 26.013 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.014 * [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)) 26.014 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in lambda1 26.014 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 26.014 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 26.014 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 26.014 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 26.014 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.014 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.014 * [backup-simplify]: Simplify 0.5 into 0.5 26.014 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.014 * [backup-simplify]: Simplify phi1 into phi1 26.014 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.014 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.014 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.014 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.014 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.014 * [backup-simplify]: Simplify (- 0) into 0 26.014 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.014 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 26.014 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 26.015 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.015 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.015 * [backup-simplify]: Simplify 0.5 into 0.5 26.015 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.015 * [backup-simplify]: Simplify phi2 into phi2 26.015 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.015 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.015 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.015 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.015 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.015 * [backup-simplify]: Simplify (- 0) into 0 26.015 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.015 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.015 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.015 * [backup-simplify]: Simplify 0 into 0 26.015 * [backup-simplify]: Simplify 1 into 1 26.015 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.015 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.016 * [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)) 26.016 * [backup-simplify]: Simplify (* 1 1) into 1 26.016 * [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)) 26.016 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1 26.016 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 26.016 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 26.016 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.016 * [backup-simplify]: Simplify phi2 into phi2 26.016 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 26.016 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 26.016 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 26.016 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 26.016 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 26.017 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 26.017 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 26.017 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.017 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.017 * [backup-simplify]: Simplify 0.5 into 0.5 26.017 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.017 * [backup-simplify]: Simplify phi1 into phi1 26.017 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.017 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.017 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.017 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.017 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.017 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.017 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 26.017 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 26.017 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.017 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.017 * [backup-simplify]: Simplify 0.5 into 0.5 26.017 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.017 * [backup-simplify]: Simplify phi2 into phi2 26.017 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.017 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.017 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.017 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.017 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.017 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.017 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.017 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.017 * [backup-simplify]: Simplify 0 into 0 26.017 * [backup-simplify]: Simplify 1 into 1 26.018 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.018 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.018 * [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)) 26.018 * [backup-simplify]: Simplify (* 1 1) into 1 26.018 * [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)) 26.018 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 26.018 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 26.018 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 26.018 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.018 * [backup-simplify]: Simplify phi1 into phi1 26.019 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 26.019 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 26.019 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 26.019 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 26.019 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 26.019 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 26.019 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.019 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.019 * [backup-simplify]: Simplify 0.5 into 0.5 26.019 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.019 * [backup-simplify]: Simplify phi1 into phi1 26.019 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.019 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.019 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.019 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.019 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.019 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.019 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 26.019 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 26.019 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.019 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.019 * [backup-simplify]: Simplify 0.5 into 0.5 26.019 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.019 * [backup-simplify]: Simplify phi2 into phi2 26.019 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.019 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.019 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.019 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.020 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.020 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.020 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.020 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.020 * [backup-simplify]: Simplify lambda2 into lambda2 26.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.020 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.020 * [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)) 26.020 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.020 * [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)) 26.020 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1 26.020 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 26.020 * [taylor]: Taking taylor expansion of 2 in lambda1 26.021 * [backup-simplify]: Simplify 2 into 2 26.021 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 26.021 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 26.021 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 26.021 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 26.021 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.021 * [backup-simplify]: Simplify 0.5 into 0.5 26.021 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 26.021 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 26.021 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.021 * [backup-simplify]: Simplify phi1 into phi1 26.021 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.021 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 26.021 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.021 * [backup-simplify]: Simplify phi2 into phi2 26.021 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.021 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 26.021 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 26.021 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.021 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.022 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.022 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 26.022 * [backup-simplify]: Simplify (- 0) into 0 26.022 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.022 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 26.022 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.022 * [backup-simplify]: Simplify lambda2 into lambda2 26.022 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.022 * [backup-simplify]: Simplify 0 into 0 26.022 * [backup-simplify]: Simplify 1 into 1 26.022 * [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) 26.023 * [backup-simplify]: Simplify (* lambda2 0) into 0 26.023 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 26.023 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 26.023 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1 26.023 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 26.023 * [taylor]: Taking taylor expansion of 2 in lambda1 26.023 * [backup-simplify]: Simplify 2 into 2 26.023 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 26.023 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 26.023 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.023 * [backup-simplify]: Simplify phi2 into phi2 26.023 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.023 * [backup-simplify]: Simplify phi1 into phi1 26.023 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 26.023 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 26.023 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1 26.023 * [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 26.023 * [taylor]: Taking taylor expansion of 2 in lambda1 26.023 * [backup-simplify]: Simplify 2 into 2 26.023 * [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 26.023 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 26.023 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 26.023 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.023 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.024 * [backup-simplify]: Simplify 0.5 into 0.5 26.024 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.024 * [backup-simplify]: Simplify phi1 into phi1 26.024 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.024 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.024 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.024 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 26.024 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 26.024 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.024 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.024 * [backup-simplify]: Simplify 0.5 into 0.5 26.024 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.024 * [backup-simplify]: Simplify phi1 into phi1 26.024 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.024 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.024 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.024 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 26.024 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 26.024 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.024 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.024 * [backup-simplify]: Simplify 0.5 into 0.5 26.024 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.024 * [backup-simplify]: Simplify phi2 into phi2 26.024 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.025 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.025 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.025 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 26.025 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.025 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.025 * [backup-simplify]: Simplify 0.5 into 0.5 26.025 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.025 * [backup-simplify]: Simplify phi2 into phi2 26.025 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.025 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.025 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.025 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.025 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.025 * [backup-simplify]: Simplify lambda2 into lambda2 26.025 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.025 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.026 * [backup-simplify]: Simplify (- 0) into 0 26.026 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.026 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.026 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.026 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.026 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.026 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.027 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.027 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.027 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.027 * [backup-simplify]: Simplify (- 0) into 0 26.027 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.027 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.028 * [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)))) 26.028 * [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))))) 26.028 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.029 * [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)) 26.029 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1 26.029 * [taylor]: Taking taylor expansion of 2 in lambda1 26.029 * [backup-simplify]: Simplify 2 into 2 26.029 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1 26.029 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 26.029 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 26.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.029 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.029 * [backup-simplify]: Simplify 0.5 into 0.5 26.029 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.029 * [backup-simplify]: Simplify phi1 into phi1 26.029 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.029 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.029 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.029 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 26.029 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 26.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.029 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.029 * [backup-simplify]: Simplify 0.5 into 0.5 26.029 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.029 * [backup-simplify]: Simplify phi1 into phi1 26.030 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.030 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.030 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.030 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 26.030 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 26.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.030 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.030 * [backup-simplify]: Simplify 0.5 into 0.5 26.030 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.030 * [backup-simplify]: Simplify phi2 into phi2 26.030 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.030 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.030 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.030 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 26.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.030 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.030 * [backup-simplify]: Simplify 0.5 into 0.5 26.030 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.030 * [backup-simplify]: Simplify phi2 into phi2 26.030 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.031 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.031 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.031 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.031 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.031 * [backup-simplify]: Simplify 0 into 0 26.031 * [backup-simplify]: Simplify 1 into 1 26.031 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.031 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.032 * [backup-simplify]: Simplify (- 0) into 0 26.032 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.032 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.032 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.032 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.032 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.032 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.032 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.032 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.033 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.033 * [backup-simplify]: Simplify (- 0) into 0 26.033 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.033 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.034 * [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)))) 26.034 * [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))))) 26.034 * [backup-simplify]: Simplify (* 1 1) into 1 26.035 * [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))))) 26.035 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 0) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 26.036 * [backup-simplify]: Simplify (+ 0 (* (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)) 26.036 * [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))) 26.037 * [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))) 26.038 * [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)))))) 26.038 * [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)))))) 26.038 * [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)))))) 26.039 * [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)))))) 26.039 * [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))))))) 26.041 * [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))))))) 26.042 * [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)))))))) 26.043 * [backup-simplify]: Simplify (+ 0) into 0 26.043 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.044 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.045 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.045 * [backup-simplify]: Simplify (- 0) into 0 26.046 * [backup-simplify]: Simplify (+ 0 0) into 0 26.046 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 26.046 * [backup-simplify]: Simplify (+ 0) into 0 26.047 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.047 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.049 * [backup-simplify]: Simplify (- 0) into 0 26.049 * [backup-simplify]: Simplify (+ 0 0) into 0 26.049 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 26.050 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 26.050 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.051 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 26.052 * [backup-simplify]: Simplify (+ 0) into 0 26.052 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.052 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.054 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.054 * [backup-simplify]: Simplify (+ 0 0) into 0 26.055 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 26.055 * [backup-simplify]: Simplify (+ 0) into 0 26.055 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.056 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.057 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.057 * [backup-simplify]: Simplify (+ 0 0) into 0 26.057 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 26.058 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 26.059 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.060 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 26.060 * [backup-simplify]: Simplify (+ 0 0) into 0 26.061 * [backup-simplify]: Simplify (+ 0 0) into 0 26.061 * [backup-simplify]: Simplify (+ 0 0) into 0 26.061 * [backup-simplify]: Simplify (+ 0 0) into 0 26.062 * [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)) 26.062 * [backup-simplify]: Simplify (+ 0) into 0 26.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.063 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.064 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.064 * [backup-simplify]: Simplify (- 0) into 0 26.065 * [backup-simplify]: Simplify (+ 0 0) into 0 26.065 * [backup-simplify]: Simplify (+ 0) into 0 26.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.066 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.067 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.068 * [backup-simplify]: Simplify (+ 0 0) into 0 26.068 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 26.068 * [backup-simplify]: Simplify (+ 0) into 0 26.069 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.069 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.070 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.070 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.070 * [backup-simplify]: Simplify (+ 0 0) into 0 26.071 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 26.071 * [backup-simplify]: Simplify (+ 0) into 0 26.072 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.072 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.073 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.073 * [backup-simplify]: Simplify (- 0) into 0 26.074 * [backup-simplify]: Simplify (+ 0 0) into 0 26.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 26.075 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.076 * [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 26.077 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 26.077 * [backup-simplify]: Simplify (+ 0 0) into 0 26.077 * [backup-simplify]: Simplify (+ 0 0) into 0 26.078 * [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)) 26.078 * [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))) 26.079 * [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))) 26.081 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 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 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 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)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 26.081 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in phi1 26.081 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi1 26.081 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in phi1 26.081 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 26.081 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 26.081 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 26.081 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 26.081 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.081 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.081 * [backup-simplify]: Simplify 0.5 into 0.5 26.081 * [taylor]: Taking taylor expansion of phi1 in phi1 26.081 * [backup-simplify]: Simplify 0 into 0 26.081 * [backup-simplify]: Simplify 1 into 1 26.082 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.082 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.082 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 26.082 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 26.082 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.082 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.082 * [backup-simplify]: Simplify 0.5 into 0.5 26.082 * [taylor]: Taking taylor expansion of phi2 in phi1 26.082 * [backup-simplify]: Simplify phi2 into phi2 26.082 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.082 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.083 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.083 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.083 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.083 * [backup-simplify]: Simplify (- 0) into 0 26.083 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.083 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.083 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.083 * [backup-simplify]: Simplify lambda2 into lambda2 26.084 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.084 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.084 * [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)) 26.084 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.085 * [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)) 26.085 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in phi1 26.085 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 26.085 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 26.085 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 26.085 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 26.085 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.085 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.085 * [backup-simplify]: Simplify 0.5 into 0.5 26.085 * [taylor]: Taking taylor expansion of phi1 in phi1 26.085 * [backup-simplify]: Simplify 0 into 0 26.085 * [backup-simplify]: Simplify 1 into 1 26.086 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.086 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.086 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 26.086 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 26.086 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.086 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.086 * [backup-simplify]: Simplify 0.5 into 0.5 26.086 * [taylor]: Taking taylor expansion of phi2 in phi1 26.086 * [backup-simplify]: Simplify phi2 into phi2 26.086 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.086 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.086 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.086 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.087 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.087 * [backup-simplify]: Simplify (- 0) into 0 26.087 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.087 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.087 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.087 * [backup-simplify]: Simplify lambda1 into lambda1 26.087 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.087 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.088 * [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)) 26.088 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.088 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 26.088 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi1 26.088 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 26.088 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 26.088 * [taylor]: Taking taylor expansion of phi2 in phi1 26.088 * [backup-simplify]: Simplify phi2 into phi2 26.089 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 26.089 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 26.089 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1 26.089 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 26.089 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 26.089 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 26.089 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 26.089 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.089 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.089 * [backup-simplify]: Simplify 0.5 into 0.5 26.089 * [taylor]: Taking taylor expansion of phi1 in phi1 26.089 * [backup-simplify]: Simplify 0 into 0 26.089 * [backup-simplify]: Simplify 1 into 1 26.090 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.090 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.090 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 26.090 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 26.090 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.090 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.090 * [backup-simplify]: Simplify 0.5 into 0.5 26.090 * [taylor]: Taking taylor expansion of phi2 in phi1 26.090 * [backup-simplify]: Simplify phi2 into phi2 26.090 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.090 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.090 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.090 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.090 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.090 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.090 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.091 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.091 * [backup-simplify]: Simplify lambda1 into lambda1 26.091 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.091 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.091 * [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)) 26.091 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.092 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 26.092 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1 26.092 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 26.092 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 26.092 * [taylor]: Taking taylor expansion of phi1 in phi1 26.092 * [backup-simplify]: Simplify 0 into 0 26.092 * [backup-simplify]: Simplify 1 into 1 26.092 * [backup-simplify]: Simplify (* 1 1) into 1 26.093 * [backup-simplify]: Simplify (/ 1 1) into 1 26.093 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 26.093 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 26.093 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 26.093 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 26.093 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.093 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.093 * [backup-simplify]: Simplify 0.5 into 0.5 26.093 * [taylor]: Taking taylor expansion of phi1 in phi1 26.093 * [backup-simplify]: Simplify 0 into 0 26.093 * [backup-simplify]: Simplify 1 into 1 26.094 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.094 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.094 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 26.094 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 26.094 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.094 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.094 * [backup-simplify]: Simplify 0.5 into 0.5 26.094 * [taylor]: Taking taylor expansion of phi2 in phi1 26.094 * [backup-simplify]: Simplify phi2 into phi2 26.094 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.094 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.094 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.094 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.094 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.095 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.095 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.095 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.095 * [backup-simplify]: Simplify lambda2 into lambda2 26.095 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.095 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.095 * [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)) 26.095 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.096 * [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)) 26.096 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi1 26.096 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 26.096 * [taylor]: Taking taylor expansion of 2 in phi1 26.096 * [backup-simplify]: Simplify 2 into 2 26.096 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 26.096 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 26.096 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 26.096 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 26.096 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.096 * [backup-simplify]: Simplify 0.5 into 0.5 26.096 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 26.096 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 26.096 * [taylor]: Taking taylor expansion of phi1 in phi1 26.096 * [backup-simplify]: Simplify 0 into 0 26.096 * [backup-simplify]: Simplify 1 into 1 26.097 * [backup-simplify]: Simplify (/ 1 1) into 1 26.097 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 26.097 * [taylor]: Taking taylor expansion of phi2 in phi1 26.097 * [backup-simplify]: Simplify phi2 into phi2 26.097 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.098 * [backup-simplify]: Simplify (+ 1 0) into 1 26.098 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 26.098 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.098 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 26.098 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.098 * [backup-simplify]: Simplify lambda2 into lambda2 26.098 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.098 * [backup-simplify]: Simplify lambda1 into lambda1 26.099 * [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) 26.099 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 26.099 * [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)) 26.099 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi1 26.099 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 26.099 * [taylor]: Taking taylor expansion of 2 in phi1 26.099 * [backup-simplify]: Simplify 2 into 2 26.099 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 26.099 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 26.099 * [taylor]: Taking taylor expansion of phi2 in phi1 26.099 * [backup-simplify]: Simplify phi2 into phi2 26.099 * [taylor]: Taking taylor expansion of phi1 in phi1 26.099 * [backup-simplify]: Simplify 0 into 0 26.100 * [backup-simplify]: Simplify 1 into 1 26.100 * [backup-simplify]: Simplify (* phi2 0) into 0 26.100 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 26.100 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.100 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi1 26.100 * [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 26.100 * [taylor]: Taking taylor expansion of 2 in phi1 26.100 * [backup-simplify]: Simplify 2 into 2 26.100 * [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 26.100 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 26.100 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 26.100 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.100 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.100 * [backup-simplify]: Simplify 0.5 into 0.5 26.100 * [taylor]: Taking taylor expansion of phi1 in phi1 26.101 * [backup-simplify]: Simplify 0 into 0 26.101 * [backup-simplify]: Simplify 1 into 1 26.101 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.101 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.101 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 26.101 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 26.101 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.101 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.101 * [backup-simplify]: Simplify 0.5 into 0.5 26.101 * [taylor]: Taking taylor expansion of phi1 in phi1 26.101 * [backup-simplify]: Simplify 0 into 0 26.101 * [backup-simplify]: Simplify 1 into 1 26.102 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.102 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.102 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 26.102 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 26.102 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.102 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.102 * [backup-simplify]: Simplify 0.5 into 0.5 26.102 * [taylor]: Taking taylor expansion of phi2 in phi1 26.102 * [backup-simplify]: Simplify phi2 into phi2 26.102 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.102 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.102 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.102 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 26.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.103 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.103 * [backup-simplify]: Simplify 0.5 into 0.5 26.103 * [taylor]: Taking taylor expansion of phi2 in phi1 26.103 * [backup-simplify]: Simplify phi2 into phi2 26.103 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.103 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.103 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.103 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.103 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.103 * [backup-simplify]: Simplify lambda2 into lambda2 26.103 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.103 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.103 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.103 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.104 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.104 * [backup-simplify]: Simplify (- 0) into 0 26.104 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.105 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.105 * [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)))) 26.105 * [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))))) 26.105 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.106 * [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)) 26.106 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi1 26.106 * [taylor]: Taking taylor expansion of 2 in phi1 26.106 * [backup-simplify]: Simplify 2 into 2 26.106 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi1 26.106 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 26.106 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 26.106 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.106 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.106 * [backup-simplify]: Simplify 0.5 into 0.5 26.106 * [taylor]: Taking taylor expansion of phi1 in phi1 26.106 * [backup-simplify]: Simplify 0 into 0 26.106 * [backup-simplify]: Simplify 1 into 1 26.107 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.107 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.107 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 26.107 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 26.107 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.107 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.107 * [backup-simplify]: Simplify 0.5 into 0.5 26.107 * [taylor]: Taking taylor expansion of phi1 in phi1 26.107 * [backup-simplify]: Simplify 0 into 0 26.107 * [backup-simplify]: Simplify 1 into 1 26.107 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.108 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.108 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 26.108 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 26.108 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.108 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.108 * [backup-simplify]: Simplify 0.5 into 0.5 26.108 * [taylor]: Taking taylor expansion of phi2 in phi1 26.108 * [backup-simplify]: Simplify phi2 into phi2 26.108 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.108 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.108 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.108 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 26.108 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.108 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.108 * [backup-simplify]: Simplify 0.5 into 0.5 26.108 * [taylor]: Taking taylor expansion of phi2 in phi1 26.108 * [backup-simplify]: Simplify phi2 into phi2 26.108 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.108 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.108 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.108 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.108 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.108 * [backup-simplify]: Simplify lambda1 into lambda1 26.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.109 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.109 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.109 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.109 * [backup-simplify]: Simplify (- 0) into 0 26.109 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.110 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.110 * [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)))) 26.110 * [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))))) 26.110 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.111 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 26.111 * [backup-simplify]: Simplify (+ 1 0) into 1 26.112 * [backup-simplify]: Simplify (+ 0 1) into 1 26.112 * [backup-simplify]: Simplify (+ 0 1) into 1 26.113 * [backup-simplify]: Simplify (+ 0 1) into 1 26.113 * [backup-simplify]: Simplify (+ 0 1) into 1 26.113 * [backup-simplify]: Simplify (+ 1 0) into 1 26.114 * [backup-simplify]: Simplify (sqrt 1) into 1 26.115 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.115 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 26.116 * [backup-simplify]: Simplify (+ 0 0) into 0 26.116 * [backup-simplify]: Simplify (+ 0 0) into 0 26.116 * [backup-simplify]: Simplify (+ 0 0) into 0 26.117 * [backup-simplify]: Simplify (+ 0 0) into 0 26.117 * [backup-simplify]: Simplify (+ 0 0) into 0 26.117 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 26.117 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 26.117 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 26.118 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 26.118 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 26.118 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 26.118 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in phi2 26.118 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi2 26.119 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in phi2 26.119 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 26.119 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 26.119 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 26.119 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 26.119 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.119 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.119 * [backup-simplify]: Simplify 0.5 into 0.5 26.119 * [taylor]: Taking taylor expansion of phi1 in phi2 26.119 * [backup-simplify]: Simplify phi1 into phi1 26.119 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.119 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.119 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.119 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.120 * [backup-simplify]: Simplify (- 0) into 0 26.120 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.120 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 26.120 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 26.120 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.120 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.120 * [backup-simplify]: Simplify 0.5 into 0.5 26.120 * [taylor]: Taking taylor expansion of phi2 in phi2 26.120 * [backup-simplify]: Simplify 0 into 0 26.120 * [backup-simplify]: Simplify 1 into 1 26.120 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.121 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.121 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.121 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.121 * [backup-simplify]: Simplify lambda2 into lambda2 26.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.121 * [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)) 26.121 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.122 * [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)) 26.122 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in phi2 26.122 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 26.122 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 26.122 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 26.122 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 26.122 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.122 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.122 * [backup-simplify]: Simplify 0.5 into 0.5 26.122 * [taylor]: Taking taylor expansion of phi1 in phi2 26.122 * [backup-simplify]: Simplify phi1 into phi1 26.122 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.122 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.122 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.123 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.123 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.123 * [backup-simplify]: Simplify (- 0) into 0 26.123 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.123 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 26.123 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 26.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.123 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.123 * [backup-simplify]: Simplify 0.5 into 0.5 26.123 * [taylor]: Taking taylor expansion of phi2 in phi2 26.123 * [backup-simplify]: Simplify 0 into 0 26.123 * [backup-simplify]: Simplify 1 into 1 26.124 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.124 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.124 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.124 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.124 * [backup-simplify]: Simplify lambda1 into lambda1 26.124 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.124 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.125 * [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)) 26.125 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.125 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 26.125 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi2 26.125 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 26.125 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 26.125 * [taylor]: Taking taylor expansion of phi2 in phi2 26.125 * [backup-simplify]: Simplify 0 into 0 26.125 * [backup-simplify]: Simplify 1 into 1 26.126 * [backup-simplify]: Simplify (* 1 1) into 1 26.126 * [backup-simplify]: Simplify (/ 1 1) into 1 26.126 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2 26.126 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 26.126 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 26.126 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 26.126 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 26.126 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.126 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.126 * [backup-simplify]: Simplify 0.5 into 0.5 26.126 * [taylor]: Taking taylor expansion of phi1 in phi2 26.126 * [backup-simplify]: Simplify phi1 into phi1 26.126 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.127 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.127 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.127 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.127 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.127 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.127 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 26.127 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 26.127 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.127 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.127 * [backup-simplify]: Simplify 0.5 into 0.5 26.127 * [taylor]: Taking taylor expansion of phi2 in phi2 26.127 * [backup-simplify]: Simplify 0 into 0 26.127 * [backup-simplify]: Simplify 1 into 1 26.128 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.128 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.128 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.128 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.128 * [backup-simplify]: Simplify lambda1 into lambda1 26.128 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.128 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.129 * [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)) 26.129 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.129 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 26.129 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2 26.129 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 26.129 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 26.129 * [taylor]: Taking taylor expansion of phi1 in phi2 26.129 * [backup-simplify]: Simplify phi1 into phi1 26.129 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 26.129 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 26.129 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 26.129 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 26.129 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 26.130 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 26.130 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.130 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.130 * [backup-simplify]: Simplify 0.5 into 0.5 26.130 * [taylor]: Taking taylor expansion of phi1 in phi2 26.130 * [backup-simplify]: Simplify phi1 into phi1 26.130 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.130 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.130 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.130 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.130 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.130 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.130 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 26.130 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 26.130 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.130 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.130 * [backup-simplify]: Simplify 0.5 into 0.5 26.130 * [taylor]: Taking taylor expansion of phi2 in phi2 26.130 * [backup-simplify]: Simplify 0 into 0 26.130 * [backup-simplify]: Simplify 1 into 1 26.131 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.131 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.131 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.131 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.131 * [backup-simplify]: Simplify lambda2 into lambda2 26.131 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.132 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.132 * [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)) 26.132 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.132 * [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)) 26.133 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi2 26.133 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 26.133 * [taylor]: Taking taylor expansion of 2 in phi2 26.133 * [backup-simplify]: Simplify 2 into 2 26.133 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 26.133 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 26.133 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 26.133 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 26.133 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.133 * [backup-simplify]: Simplify 0.5 into 0.5 26.133 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 26.133 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 26.133 * [taylor]: Taking taylor expansion of phi1 in phi2 26.133 * [backup-simplify]: Simplify phi1 into phi1 26.133 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.133 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 26.133 * [taylor]: Taking taylor expansion of phi2 in phi2 26.133 * [backup-simplify]: Simplify 0 into 0 26.133 * [backup-simplify]: Simplify 1 into 1 26.134 * [backup-simplify]: Simplify (/ 1 1) into 1 26.134 * [backup-simplify]: Simplify (+ 0 1) into 1 26.134 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 26.135 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.135 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 26.135 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.135 * [backup-simplify]: Simplify lambda2 into lambda2 26.135 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.135 * [backup-simplify]: Simplify lambda1 into lambda1 26.135 * [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) 26.135 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 26.136 * [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)) 26.136 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi2 26.136 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 26.136 * [taylor]: Taking taylor expansion of 2 in phi2 26.136 * [backup-simplify]: Simplify 2 into 2 26.136 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 26.136 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 26.136 * [taylor]: Taking taylor expansion of phi2 in phi2 26.136 * [backup-simplify]: Simplify 0 into 0 26.136 * [backup-simplify]: Simplify 1 into 1 26.136 * [taylor]: Taking taylor expansion of phi1 in phi2 26.136 * [backup-simplify]: Simplify phi1 into phi1 26.136 * [backup-simplify]: Simplify (* 0 phi1) into 0 26.136 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 26.136 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.136 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi2 26.137 * [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 26.137 * [taylor]: Taking taylor expansion of 2 in phi2 26.137 * [backup-simplify]: Simplify 2 into 2 26.137 * [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 26.137 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 26.137 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 26.137 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.137 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.137 * [backup-simplify]: Simplify 0.5 into 0.5 26.137 * [taylor]: Taking taylor expansion of phi1 in phi2 26.137 * [backup-simplify]: Simplify phi1 into phi1 26.137 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.137 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.137 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.137 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 26.137 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 26.137 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.137 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.137 * [backup-simplify]: Simplify 0.5 into 0.5 26.137 * [taylor]: Taking taylor expansion of phi1 in phi2 26.137 * [backup-simplify]: Simplify phi1 into phi1 26.137 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.137 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.138 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.138 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 26.138 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 26.138 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.138 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.138 * [backup-simplify]: Simplify 0.5 into 0.5 26.138 * [taylor]: Taking taylor expansion of phi2 in phi2 26.138 * [backup-simplify]: Simplify 0 into 0 26.138 * [backup-simplify]: Simplify 1 into 1 26.138 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.138 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.138 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 26.138 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.138 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.138 * [backup-simplify]: Simplify 0.5 into 0.5 26.138 * [taylor]: Taking taylor expansion of phi2 in phi2 26.138 * [backup-simplify]: Simplify 0 into 0 26.139 * [backup-simplify]: Simplify 1 into 1 26.139 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.139 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.139 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.139 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.139 * [backup-simplify]: Simplify lambda2 into lambda2 26.139 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.140 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.140 * [backup-simplify]: Simplify (- 0) into 0 26.140 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.140 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.140 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.140 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.140 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.141 * [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)))) 26.141 * [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))))) 26.141 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.142 * [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)) 26.142 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi2 26.142 * [taylor]: Taking taylor expansion of 2 in phi2 26.142 * [backup-simplify]: Simplify 2 into 2 26.142 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi2 26.142 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 26.142 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 26.142 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.142 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.142 * [backup-simplify]: Simplify 0.5 into 0.5 26.142 * [taylor]: Taking taylor expansion of phi1 in phi2 26.142 * [backup-simplify]: Simplify phi1 into phi1 26.142 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.142 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.142 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.142 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 26.142 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 26.142 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.142 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.142 * [backup-simplify]: Simplify 0.5 into 0.5 26.142 * [taylor]: Taking taylor expansion of phi1 in phi2 26.142 * [backup-simplify]: Simplify phi1 into phi1 26.142 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.143 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.143 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.143 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 26.143 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 26.143 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.143 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.143 * [backup-simplify]: Simplify 0.5 into 0.5 26.143 * [taylor]: Taking taylor expansion of phi2 in phi2 26.143 * [backup-simplify]: Simplify 0 into 0 26.143 * [backup-simplify]: Simplify 1 into 1 26.143 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.143 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.143 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 26.144 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.144 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.144 * [backup-simplify]: Simplify 0.5 into 0.5 26.144 * [taylor]: Taking taylor expansion of phi2 in phi2 26.144 * [backup-simplify]: Simplify 0 into 0 26.144 * [backup-simplify]: Simplify 1 into 1 26.144 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.144 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.144 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.144 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.144 * [backup-simplify]: Simplify lambda1 into lambda1 26.144 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.144 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.145 * [backup-simplify]: Simplify (- 0) into 0 26.145 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.145 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.145 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.145 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.145 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.146 * [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)))) 26.146 * [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))))) 26.146 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.146 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 26.147 * [backup-simplify]: Simplify (+ 1 0) into 1 26.147 * [backup-simplify]: Simplify (+ 0 1) into 1 26.148 * [backup-simplify]: Simplify (+ 0 1) into 1 26.148 * [backup-simplify]: Simplify (+ 1 0) into 1 26.148 * [backup-simplify]: Simplify (sqrt 1) into 1 26.149 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.150 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 26.150 * [backup-simplify]: Simplify (+ 0 0) into 0 26.150 * [backup-simplify]: Simplify (+ 0 0) into 0 26.151 * [backup-simplify]: Simplify (+ 0 0) into 0 26.151 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 26.151 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 26.151 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 26.151 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 26.151 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 26.152 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 26.152 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in phi2 26.152 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 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 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi2 26.152 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in phi2 26.152 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 26.152 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 26.152 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 26.152 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 26.152 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.152 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.152 * [backup-simplify]: Simplify 0.5 into 0.5 26.152 * [taylor]: Taking taylor expansion of phi1 in phi2 26.152 * [backup-simplify]: Simplify phi1 into phi1 26.152 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.153 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.153 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.153 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.153 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.153 * [backup-simplify]: Simplify (- 0) into 0 26.153 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.153 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 26.153 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 26.153 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.153 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.154 * [backup-simplify]: Simplify 0.5 into 0.5 26.154 * [taylor]: Taking taylor expansion of phi2 in phi2 26.154 * [backup-simplify]: Simplify 0 into 0 26.154 * [backup-simplify]: Simplify 1 into 1 26.154 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.154 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.154 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.154 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.154 * [backup-simplify]: Simplify lambda2 into lambda2 26.154 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.155 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.155 * [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)) 26.155 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.155 * [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)) 26.155 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in phi2 26.155 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 26.155 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 26.156 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 26.156 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 26.156 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.156 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.156 * [backup-simplify]: Simplify 0.5 into 0.5 26.156 * [taylor]: Taking taylor expansion of phi1 in phi2 26.156 * [backup-simplify]: Simplify phi1 into phi1 26.156 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.156 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.156 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.156 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.156 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.156 * [backup-simplify]: Simplify (- 0) into 0 26.156 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.156 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 26.156 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 26.156 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.156 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.156 * [backup-simplify]: Simplify 0.5 into 0.5 26.156 * [taylor]: Taking taylor expansion of phi2 in phi2 26.156 * [backup-simplify]: Simplify 0 into 0 26.156 * [backup-simplify]: Simplify 1 into 1 26.157 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.157 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.157 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.157 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.157 * [backup-simplify]: Simplify lambda1 into lambda1 26.157 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.157 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.157 * [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)) 26.157 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.157 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 26.157 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi2 26.158 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 26.158 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 26.158 * [taylor]: Taking taylor expansion of phi2 in phi2 26.158 * [backup-simplify]: Simplify 0 into 0 26.158 * [backup-simplify]: Simplify 1 into 1 26.158 * [backup-simplify]: Simplify (* 1 1) into 1 26.158 * [backup-simplify]: Simplify (/ 1 1) into 1 26.158 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2 26.158 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2 26.158 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 26.158 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 26.158 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 26.158 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.158 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.158 * [backup-simplify]: Simplify 0.5 into 0.5 26.158 * [taylor]: Taking taylor expansion of phi1 in phi2 26.158 * [backup-simplify]: Simplify phi1 into phi1 26.158 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.158 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.158 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.159 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.159 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.159 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.159 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 26.159 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 26.159 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.159 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.159 * [backup-simplify]: Simplify 0.5 into 0.5 26.159 * [taylor]: Taking taylor expansion of phi2 in phi2 26.159 * [backup-simplify]: Simplify 0 into 0 26.159 * [backup-simplify]: Simplify 1 into 1 26.164 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.164 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.164 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.165 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.165 * [backup-simplify]: Simplify lambda1 into lambda1 26.165 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.165 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.165 * [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)) 26.165 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.165 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 26.165 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2 26.165 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 26.165 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 26.165 * [taylor]: Taking taylor expansion of phi1 in phi2 26.165 * [backup-simplify]: Simplify phi1 into phi1 26.165 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 26.166 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 26.166 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 26.166 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 26.166 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 26.166 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 26.166 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.166 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.166 * [backup-simplify]: Simplify 0.5 into 0.5 26.166 * [taylor]: Taking taylor expansion of phi1 in phi2 26.166 * [backup-simplify]: Simplify phi1 into phi1 26.166 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.166 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.166 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.166 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.166 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.166 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.166 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 26.166 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 26.166 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.166 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.166 * [backup-simplify]: Simplify 0.5 into 0.5 26.166 * [taylor]: Taking taylor expansion of phi2 in phi2 26.166 * [backup-simplify]: Simplify 0 into 0 26.166 * [backup-simplify]: Simplify 1 into 1 26.167 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.167 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.167 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.167 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.167 * [backup-simplify]: Simplify lambda2 into lambda2 26.167 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.167 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.167 * [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)) 26.167 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.168 * [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)) 26.168 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi2 26.168 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 26.168 * [taylor]: Taking taylor expansion of 2 in phi2 26.168 * [backup-simplify]: Simplify 2 into 2 26.168 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 26.168 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 26.168 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 26.168 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 26.168 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.168 * [backup-simplify]: Simplify 0.5 into 0.5 26.168 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 26.168 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 26.168 * [taylor]: Taking taylor expansion of phi1 in phi2 26.168 * [backup-simplify]: Simplify phi1 into phi1 26.168 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.168 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 26.168 * [taylor]: Taking taylor expansion of phi2 in phi2 26.168 * [backup-simplify]: Simplify 0 into 0 26.168 * [backup-simplify]: Simplify 1 into 1 26.168 * [backup-simplify]: Simplify (/ 1 1) into 1 26.169 * [backup-simplify]: Simplify (+ 0 1) into 1 26.169 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 26.169 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.169 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 26.169 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.169 * [backup-simplify]: Simplify lambda2 into lambda2 26.169 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.169 * [backup-simplify]: Simplify lambda1 into lambda1 26.169 * [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) 26.169 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 26.170 * [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)) 26.170 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi2 26.170 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 26.170 * [taylor]: Taking taylor expansion of 2 in phi2 26.170 * [backup-simplify]: Simplify 2 into 2 26.170 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 26.170 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 26.170 * [taylor]: Taking taylor expansion of phi2 in phi2 26.170 * [backup-simplify]: Simplify 0 into 0 26.170 * [backup-simplify]: Simplify 1 into 1 26.170 * [taylor]: Taking taylor expansion of phi1 in phi2 26.170 * [backup-simplify]: Simplify phi1 into phi1 26.170 * [backup-simplify]: Simplify (* 0 phi1) into 0 26.170 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 26.170 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.170 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi2 26.170 * [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 26.170 * [taylor]: Taking taylor expansion of 2 in phi2 26.170 * [backup-simplify]: Simplify 2 into 2 26.170 * [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 26.170 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 26.170 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 26.171 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.171 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.171 * [backup-simplify]: Simplify 0.5 into 0.5 26.171 * [taylor]: Taking taylor expansion of phi1 in phi2 26.171 * [backup-simplify]: Simplify phi1 into phi1 26.171 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.171 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.171 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.171 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 26.171 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 26.171 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.171 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.171 * [backup-simplify]: Simplify 0.5 into 0.5 26.171 * [taylor]: Taking taylor expansion of phi1 in phi2 26.171 * [backup-simplify]: Simplify phi1 into phi1 26.171 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.171 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.171 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.171 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 26.171 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 26.171 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.171 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.171 * [backup-simplify]: Simplify 0.5 into 0.5 26.171 * [taylor]: Taking taylor expansion of phi2 in phi2 26.171 * [backup-simplify]: Simplify 0 into 0 26.171 * [backup-simplify]: Simplify 1 into 1 26.172 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.172 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.172 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 26.172 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.172 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.172 * [backup-simplify]: Simplify 0.5 into 0.5 26.172 * [taylor]: Taking taylor expansion of phi2 in phi2 26.172 * [backup-simplify]: Simplify 0 into 0 26.172 * [backup-simplify]: Simplify 1 into 1 26.172 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.172 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.172 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.172 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.172 * [backup-simplify]: Simplify lambda2 into lambda2 26.172 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.172 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.173 * [backup-simplify]: Simplify (- 0) into 0 26.173 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.173 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.173 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.173 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.173 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.173 * [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)))) 26.173 * [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))))) 26.173 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.174 * [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)) 26.174 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi2 26.174 * [taylor]: Taking taylor expansion of 2 in phi2 26.174 * [backup-simplify]: Simplify 2 into 2 26.174 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi2 26.174 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 26.174 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 26.174 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.174 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.174 * [backup-simplify]: Simplify 0.5 into 0.5 26.174 * [taylor]: Taking taylor expansion of phi1 in phi2 26.174 * [backup-simplify]: Simplify phi1 into phi1 26.174 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.174 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.174 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.174 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 26.174 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 26.174 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 26.174 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.174 * [backup-simplify]: Simplify 0.5 into 0.5 26.174 * [taylor]: Taking taylor expansion of phi1 in phi2 26.174 * [backup-simplify]: Simplify phi1 into phi1 26.174 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.174 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.174 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.174 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 26.174 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 26.174 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.174 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.174 * [backup-simplify]: Simplify 0.5 into 0.5 26.174 * [taylor]: Taking taylor expansion of phi2 in phi2 26.174 * [backup-simplify]: Simplify 0 into 0 26.175 * [backup-simplify]: Simplify 1 into 1 26.175 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.175 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.176 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 26.176 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 26.176 * [taylor]: Taking taylor expansion of 0.5 in phi2 26.176 * [backup-simplify]: Simplify 0.5 into 0.5 26.176 * [taylor]: Taking taylor expansion of phi2 in phi2 26.176 * [backup-simplify]: Simplify 0 into 0 26.176 * [backup-simplify]: Simplify 1 into 1 26.176 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.176 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.176 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.176 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.176 * [backup-simplify]: Simplify lambda1 into lambda1 26.176 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.176 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.176 * [backup-simplify]: Simplify (- 0) into 0 26.177 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.177 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.177 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.177 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.177 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.177 * [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)))) 26.177 * [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))))) 26.177 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.177 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 26.178 * [backup-simplify]: Simplify (+ 1 0) into 1 26.178 * [backup-simplify]: Simplify (+ 0 1) into 1 26.178 * [backup-simplify]: Simplify (+ 0 1) into 1 26.179 * [backup-simplify]: Simplify (+ 1 0) into 1 26.179 * [backup-simplify]: Simplify (sqrt 1) into 1 26.179 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.180 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 26.180 * [backup-simplify]: Simplify (+ 0 0) into 0 26.180 * [backup-simplify]: Simplify (+ 0 0) into 0 26.180 * [backup-simplify]: Simplify (+ 0 0) into 0 26.180 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 26.180 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 26.181 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 26.181 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 26.181 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 26.181 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 26.181 * [taylor]: Taking taylor expansion of 1 in phi1 26.181 * [backup-simplify]: Simplify 1 into 1 26.181 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 26.181 * [taylor]: Taking taylor expansion of -1 in phi1 26.181 * [backup-simplify]: Simplify -1 into -1 26.181 * [taylor]: Taking taylor expansion of phi1 in phi1 26.181 * [backup-simplify]: Simplify 0 into 0 26.181 * [backup-simplify]: Simplify 1 into 1 26.182 * [backup-simplify]: Simplify (/ -1 1) into -1 26.182 * [taylor]: Taking taylor expansion of -1 in lambda1 26.182 * [backup-simplify]: Simplify -1 into -1 26.182 * [taylor]: Taking taylor expansion of 1 in lambda1 26.182 * [backup-simplify]: Simplify 1 into 1 26.182 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 26.183 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 26.183 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) into (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) 26.184 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (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 lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 26.185 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (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 lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 26.186 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (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 lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) 26.187 * [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 lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (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 lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) 26.188 * [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))) 26.188 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 26.188 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 26.189 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 26.189 * [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))) 26.189 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) 26.190 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) 26.191 * [backup-simplify]: Simplify (+ 0 (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) into (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) 26.192 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) 26.193 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 26.196 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 26.201 * [backup-simplify]: Simplify (/ (- (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) (pow (/ -1 phi1) 2) (+)) (* 2 1)) into (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) 26.201 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi1 26.201 * [taylor]: Taking taylor expansion of 1/2 in phi1 26.201 * [backup-simplify]: Simplify 1/2 into 1/2 26.201 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi1 26.201 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi1 26.201 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 26.201 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 26.201 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 26.201 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 26.201 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.201 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.202 * [backup-simplify]: Simplify 0.5 into 0.5 26.202 * [taylor]: Taking taylor expansion of phi1 in phi1 26.202 * [backup-simplify]: Simplify 0 into 0 26.202 * [backup-simplify]: Simplify 1 into 1 26.202 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.202 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.202 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 26.202 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 26.202 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.202 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.202 * [backup-simplify]: Simplify 0.5 into 0.5 26.202 * [taylor]: Taking taylor expansion of phi2 in phi1 26.202 * [backup-simplify]: Simplify phi2 into phi2 26.202 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.202 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.203 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.203 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.203 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.203 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.203 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.203 * [backup-simplify]: Simplify lambda2 into lambda2 26.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.204 * [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)) 26.204 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.204 * [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)) 26.204 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1 26.204 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 26.204 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 26.204 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 26.204 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 26.204 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.204 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.204 * [backup-simplify]: Simplify 0.5 into 0.5 26.204 * [taylor]: Taking taylor expansion of phi1 in phi1 26.204 * [backup-simplify]: Simplify 0 into 0 26.205 * [backup-simplify]: Simplify 1 into 1 26.205 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.205 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.205 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 26.205 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 26.205 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.205 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.205 * [backup-simplify]: Simplify 0.5 into 0.5 26.205 * [taylor]: Taking taylor expansion of phi2 in phi1 26.205 * [backup-simplify]: Simplify phi2 into phi2 26.205 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.205 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.206 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.206 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.206 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.206 * [backup-simplify]: Simplify (- 0) into 0 26.206 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.206 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.206 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.206 * [backup-simplify]: Simplify lambda1 into lambda1 26.207 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.207 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.207 * [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)) 26.207 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.207 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 26.208 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1 26.208 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1 26.208 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 26.208 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 26.208 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 26.208 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.208 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.208 * [backup-simplify]: Simplify 0.5 into 0.5 26.208 * [taylor]: Taking taylor expansion of phi1 in phi1 26.208 * [backup-simplify]: Simplify 0 into 0 26.208 * [backup-simplify]: Simplify 1 into 1 26.208 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.208 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.208 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 26.208 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 26.209 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.209 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.209 * [backup-simplify]: Simplify 0.5 into 0.5 26.209 * [taylor]: Taking taylor expansion of phi2 in phi1 26.209 * [backup-simplify]: Simplify phi2 into phi2 26.209 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.209 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.209 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.209 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.209 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.209 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.209 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.209 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.209 * [backup-simplify]: Simplify lambda1 into lambda1 26.209 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.210 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.210 * [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)) 26.210 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.210 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 26.210 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 26.210 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 26.210 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 26.211 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 26.211 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.211 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.211 * [backup-simplify]: Simplify 0.5 into 0.5 26.211 * [taylor]: Taking taylor expansion of phi1 in phi1 26.211 * [backup-simplify]: Simplify 0 into 0 26.211 * [backup-simplify]: Simplify 1 into 1 26.211 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.211 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.211 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 26.211 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 26.211 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.211 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.211 * [backup-simplify]: Simplify 0.5 into 0.5 26.211 * [taylor]: Taking taylor expansion of phi2 in phi1 26.211 * [backup-simplify]: Simplify phi2 into phi2 26.212 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.212 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.212 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.212 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.212 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.212 * [backup-simplify]: Simplify (- 0) into 0 26.212 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.212 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.212 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.213 * [backup-simplify]: Simplify lambda2 into lambda2 26.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.213 * [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)) 26.213 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.214 * [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)) 26.214 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi1 26.214 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 26.214 * [taylor]: Taking taylor expansion of 2 in phi1 26.214 * [backup-simplify]: Simplify 2 into 2 26.214 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 26.214 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 26.214 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 26.214 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 26.214 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.214 * [backup-simplify]: Simplify 0.5 into 0.5 26.214 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 26.214 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 26.214 * [taylor]: Taking taylor expansion of phi1 in phi1 26.214 * [backup-simplify]: Simplify 0 into 0 26.214 * [backup-simplify]: Simplify 1 into 1 26.215 * [backup-simplify]: Simplify (/ 1 1) into 1 26.215 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 26.215 * [taylor]: Taking taylor expansion of phi2 in phi1 26.215 * [backup-simplify]: Simplify phi2 into phi2 26.215 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.215 * [backup-simplify]: Simplify (+ 1 0) into 1 26.216 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 26.216 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.216 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 26.216 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.216 * [backup-simplify]: Simplify lambda2 into lambda2 26.216 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.216 * [backup-simplify]: Simplify lambda1 into lambda1 26.216 * [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) 26.216 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 26.217 * [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)) 26.217 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi1 26.217 * [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 26.217 * [taylor]: Taking taylor expansion of 2 in phi1 26.217 * [backup-simplify]: Simplify 2 into 2 26.217 * [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 26.217 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 26.217 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 26.217 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.217 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.217 * [backup-simplify]: Simplify 0.5 into 0.5 26.217 * [taylor]: Taking taylor expansion of phi1 in phi1 26.217 * [backup-simplify]: Simplify 0 into 0 26.217 * [backup-simplify]: Simplify 1 into 1 26.218 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.218 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.218 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 26.218 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 26.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.218 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.218 * [backup-simplify]: Simplify 0.5 into 0.5 26.218 * [taylor]: Taking taylor expansion of phi1 in phi1 26.218 * [backup-simplify]: Simplify 0 into 0 26.218 * [backup-simplify]: Simplify 1 into 1 26.218 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.218 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.218 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 26.219 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 26.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.219 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.219 * [backup-simplify]: Simplify 0.5 into 0.5 26.219 * [taylor]: Taking taylor expansion of phi2 in phi1 26.219 * [backup-simplify]: Simplify phi2 into phi2 26.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 26.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.219 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.219 * [backup-simplify]: Simplify 0.5 into 0.5 26.219 * [taylor]: Taking taylor expansion of phi2 in phi1 26.219 * [backup-simplify]: Simplify phi2 into phi2 26.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.219 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.219 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.219 * [backup-simplify]: Simplify lambda2 into lambda2 26.220 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.220 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.220 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.220 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.220 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.220 * [backup-simplify]: Simplify (- 0) into 0 26.220 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.221 * [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)))) 26.221 * [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))))) 26.221 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.222 * [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)) 26.222 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi1 26.222 * [taylor]: Taking taylor expansion of 2 in phi1 26.222 * [backup-simplify]: Simplify 2 into 2 26.222 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi1 26.222 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 26.222 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 26.222 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.222 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.222 * [backup-simplify]: Simplify 0.5 into 0.5 26.222 * [taylor]: Taking taylor expansion of phi1 in phi1 26.222 * [backup-simplify]: Simplify 0 into 0 26.222 * [backup-simplify]: Simplify 1 into 1 26.223 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.223 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.223 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 26.223 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 26.223 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.223 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.223 * [backup-simplify]: Simplify 0.5 into 0.5 26.223 * [taylor]: Taking taylor expansion of phi1 in phi1 26.223 * [backup-simplify]: Simplify 0 into 0 26.223 * [backup-simplify]: Simplify 1 into 1 26.223 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.224 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.224 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 26.224 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 26.224 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.224 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.224 * [backup-simplify]: Simplify 0.5 into 0.5 26.224 * [taylor]: Taking taylor expansion of phi2 in phi1 26.224 * [backup-simplify]: Simplify phi2 into phi2 26.224 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.224 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.224 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.224 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 26.224 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.224 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.224 * [backup-simplify]: Simplify 0.5 into 0.5 26.224 * [taylor]: Taking taylor expansion of phi2 in phi1 26.224 * [backup-simplify]: Simplify phi2 into phi2 26.224 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.225 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.225 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.225 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.225 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.225 * [backup-simplify]: Simplify lambda1 into lambda1 26.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.225 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.226 * [backup-simplify]: Simplify (- 0) into 0 26.226 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.226 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.226 * [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)))) 26.227 * [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))))) 26.227 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.227 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 26.228 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)))) into 0 26.228 * [taylor]: Taking taylor expansion of 0 in lambda1 26.228 * [backup-simplify]: Simplify 0 into 0 26.228 * [taylor]: Taking taylor expansion of 0 in lambda1 26.228 * [backup-simplify]: Simplify 0 into 0 26.228 * [taylor]: Taking taylor expansion of -1 in lambda2 26.229 * [backup-simplify]: Simplify -1 into -1 26.229 * [taylor]: Taking taylor expansion of 1 in lambda2 26.229 * [backup-simplify]: Simplify 1 into 1 26.229 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 26.229 * [backup-simplify]: Simplify (+ 0) into 0 26.230 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.230 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.231 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.231 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.231 * [backup-simplify]: Simplify (- 0) into 0 26.232 * [backup-simplify]: Simplify (+ 0 0) into 0 26.232 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 26.232 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 26.233 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.233 * [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 26.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 26.234 * [backup-simplify]: Simplify (+ 0) into 0 26.234 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.235 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.235 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.236 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.236 * [backup-simplify]: Simplify (- 0) into 0 26.236 * [backup-simplify]: Simplify (+ 0 0) into 0 26.237 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 26.237 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 26.237 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.238 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 26.239 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 26.240 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 26.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 26.241 * [backup-simplify]: Simplify (+ 0) into 0 26.241 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.241 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.243 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.243 * [backup-simplify]: Simplify (+ 0 0) into 0 26.243 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 26.244 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 26.244 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.245 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 26.245 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 26.245 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 26.246 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 26.246 * [backup-simplify]: Simplify (+ 0) into 0 26.246 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.247 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.247 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.248 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.248 * [backup-simplify]: Simplify (+ 0 0) into 0 26.248 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 26.249 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 26.249 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.250 * [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 26.250 * [backup-simplify]: Simplify (+ 0 0) into 0 26.250 * [backup-simplify]: Simplify (+ 0 0) into 0 26.251 * [backup-simplify]: Simplify (+ 0 0) into 0 26.251 * [backup-simplify]: Simplify (+ 0 0) into 0 26.251 * [backup-simplify]: Simplify (+ 0 0) into 0 26.252 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 26.252 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 26.252 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 26.253 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 26.254 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 phi1)))) into 0 26.254 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 26.255 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ 1 phi1)))) into 0 26.255 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 26.256 * [backup-simplify]: Simplify (+ 0) into 0 26.256 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.257 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.258 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.259 * [backup-simplify]: Simplify (+ 0 0) into 0 26.259 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 26.259 * [backup-simplify]: Simplify (+ 0) into 0 26.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.260 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.262 * [backup-simplify]: Simplify (- 0) into 0 26.262 * [backup-simplify]: Simplify (+ 0 0) into 0 26.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 26.262 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.263 * [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 26.264 * [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 26.264 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 26.265 * [backup-simplify]: Simplify (+ 0) into 0 26.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.266 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.267 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.267 * [backup-simplify]: Simplify (+ 0 0) into 0 26.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 26.268 * [backup-simplify]: Simplify (+ 0) into 0 26.269 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.269 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.270 * [backup-simplify]: Simplify (- 0) into 0 26.271 * [backup-simplify]: Simplify (+ 0 0) into 0 26.271 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 26.271 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.272 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 26.273 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into 0 26.273 * [backup-simplify]: Simplify (+ 0 0) into 0 26.274 * [backup-simplify]: Simplify (+ 0 0) into 0 26.274 * [backup-simplify]: Simplify (+ 0 0) into 0 26.274 * [backup-simplify]: Simplify (- 0) into 0 26.275 * [backup-simplify]: Simplify (+ 0 0) into 0 26.283 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (/ -1 phi1) (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))))))) (* 2 1)) into (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))))))) 26.283 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))))))) in phi1 26.283 * [taylor]: Taking taylor expansion of 1/2 in phi1 26.283 * [backup-simplify]: Simplify 1/2 into 1/2 26.283 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1)))))) in phi1 26.283 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))))) in phi1 26.284 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda1 2) phi1)) in phi1 26.284 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 26.284 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 26.284 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 26.284 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.284 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.284 * [backup-simplify]: Simplify 0.5 into 0.5 26.284 * [taylor]: Taking taylor expansion of phi1 in phi1 26.284 * [backup-simplify]: Simplify 0 into 0 26.284 * [backup-simplify]: Simplify 1 into 1 26.284 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.284 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.284 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 26.284 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 26.285 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.285 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.285 * [backup-simplify]: Simplify 0.5 into 0.5 26.285 * [taylor]: Taking taylor expansion of phi2 in phi1 26.285 * [backup-simplify]: Simplify phi2 into phi2 26.285 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.285 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.285 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.285 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.285 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.285 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.285 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 26.285 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.285 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.285 * [backup-simplify]: Simplify lambda1 into lambda1 26.285 * [taylor]: Taking taylor expansion of phi1 in phi1 26.285 * [backup-simplify]: Simplify 0 into 0 26.285 * [backup-simplify]: Simplify 1 into 1 26.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.286 * [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)) 26.286 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.286 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 26.286 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.287 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 26.287 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 26.288 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2))))) in phi1 26.288 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) in phi1 26.288 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 26.288 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 26.288 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 26.288 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.288 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.288 * [backup-simplify]: Simplify 0.5 into 0.5 26.288 * [taylor]: Taking taylor expansion of phi1 in phi1 26.288 * [backup-simplify]: Simplify 0 into 0 26.288 * [backup-simplify]: Simplify 1 into 1 26.288 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.288 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.288 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 26.289 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 26.289 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.289 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.289 * [backup-simplify]: Simplify 0.5 into 0.5 26.289 * [taylor]: Taking taylor expansion of phi2 in phi1 26.289 * [backup-simplify]: Simplify phi2 into phi2 26.289 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.289 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.289 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.289 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.289 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.289 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.289 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 26.289 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.289 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.289 * [backup-simplify]: Simplify lambda2 into lambda2 26.289 * [taylor]: Taking taylor expansion of phi1 in phi1 26.289 * [backup-simplify]: Simplify 0 into 0 26.289 * [backup-simplify]: Simplify 1 into 1 26.290 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.290 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.290 * [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)) 26.290 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.290 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 26.290 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.291 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 26.291 * [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)) 26.291 * [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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2)))) in phi1 26.292 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) in phi1 26.292 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 26.292 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 26.292 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 26.292 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.292 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.292 * [backup-simplify]: Simplify 0.5 into 0.5 26.292 * [taylor]: Taking taylor expansion of phi1 in phi1 26.292 * [backup-simplify]: Simplify 0 into 0 26.292 * [backup-simplify]: Simplify 1 into 1 26.292 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.292 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.292 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 26.292 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 26.292 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.292 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.293 * [backup-simplify]: Simplify 0.5 into 0.5 26.293 * [taylor]: Taking taylor expansion of phi2 in phi1 26.293 * [backup-simplify]: Simplify phi2 into phi2 26.293 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.293 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.293 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.293 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.293 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.293 * [backup-simplify]: Simplify (- 0) into 0 26.294 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.294 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 26.294 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.294 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.294 * [backup-simplify]: Simplify lambda2 into lambda2 26.294 * [taylor]: Taking taylor expansion of phi1 in phi1 26.294 * [backup-simplify]: Simplify 0 into 0 26.294 * [backup-simplify]: Simplify 1 into 1 26.294 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.294 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.294 * [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)) 26.294 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.295 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 26.295 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.295 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 26.296 * [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)) 26.296 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (pow lambda1 2))) in phi1 26.296 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 26.296 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 26.296 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 26.296 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.296 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.296 * [backup-simplify]: Simplify 0.5 into 0.5 26.296 * [taylor]: Taking taylor expansion of phi1 in phi1 26.296 * [backup-simplify]: Simplify 0 into 0 26.296 * [backup-simplify]: Simplify 1 into 1 26.297 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.297 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.297 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 26.297 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 26.297 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.297 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.297 * [backup-simplify]: Simplify 0.5 into 0.5 26.297 * [taylor]: Taking taylor expansion of phi2 in phi1 26.297 * [backup-simplify]: Simplify phi2 into phi2 26.297 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.297 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.297 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.297 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.297 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.298 * [backup-simplify]: Simplify (- 0) into 0 26.298 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.298 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 26.298 * [taylor]: Taking taylor expansion of phi1 in phi1 26.298 * [backup-simplify]: Simplify 0 into 0 26.298 * [backup-simplify]: Simplify 1 into 1 26.298 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.298 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.298 * [backup-simplify]: Simplify lambda1 into lambda1 26.298 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.298 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.299 * [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)) 26.299 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.299 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 26.299 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.300 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 26.300 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) 26.300 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))))) in phi1 26.300 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1))) in phi1 26.300 * [taylor]: Taking taylor expansion of 2 in phi1 26.300 * [backup-simplify]: Simplify 2 into 2 26.300 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda1 2) phi1)) in phi1 26.300 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 26.300 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 26.300 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.300 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.300 * [backup-simplify]: Simplify 0.5 into 0.5 26.300 * [taylor]: Taking taylor expansion of phi1 in phi1 26.300 * [backup-simplify]: Simplify 0 into 0 26.300 * [backup-simplify]: Simplify 1 into 1 26.301 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.301 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.301 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 26.301 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 26.301 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.301 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.301 * [backup-simplify]: Simplify 0.5 into 0.5 26.301 * [taylor]: Taking taylor expansion of phi1 in phi1 26.301 * [backup-simplify]: Simplify 0 into 0 26.301 * [backup-simplify]: Simplify 1 into 1 26.302 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.302 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.302 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 26.302 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 26.302 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.302 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.302 * [backup-simplify]: Simplify 0.5 into 0.5 26.302 * [taylor]: Taking taylor expansion of phi2 in phi1 26.302 * [backup-simplify]: Simplify phi2 into phi2 26.302 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.302 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.302 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.302 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 26.302 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.302 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.302 * [backup-simplify]: Simplify 0.5 into 0.5 26.302 * [taylor]: Taking taylor expansion of phi2 in phi1 26.302 * [backup-simplify]: Simplify phi2 into phi2 26.302 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.302 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.303 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.303 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 26.303 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.303 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.303 * [backup-simplify]: Simplify lambda1 into lambda1 26.303 * [taylor]: Taking taylor expansion of phi1 in phi1 26.303 * [backup-simplify]: Simplify 0 into 0 26.303 * [backup-simplify]: Simplify 1 into 1 26.303 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.303 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.303 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.303 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.303 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.304 * [backup-simplify]: Simplify (- 0) into 0 26.304 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.304 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.304 * [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)))) 26.304 * [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))))) 26.304 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.304 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 26.304 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.305 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 26.305 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) 26.305 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1)))) in phi1 26.305 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) in phi1 26.305 * [taylor]: Taking taylor expansion of 2 in phi1 26.305 * [backup-simplify]: Simplify 2 into 2 26.305 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1))) in phi1 26.305 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 26.305 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 26.305 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 26.305 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.305 * [backup-simplify]: Simplify 0.5 into 0.5 26.305 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 26.305 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 26.305 * [taylor]: Taking taylor expansion of phi1 in phi1 26.305 * [backup-simplify]: Simplify 0 into 0 26.305 * [backup-simplify]: Simplify 1 into 1 26.306 * [backup-simplify]: Simplify (/ 1 1) into 1 26.306 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 26.306 * [taylor]: Taking taylor expansion of phi2 in phi1 26.306 * [backup-simplify]: Simplify phi2 into phi2 26.306 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.306 * [backup-simplify]: Simplify (+ 1 0) into 1 26.306 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 26.307 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.307 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 lambda1)) in phi1 26.307 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.307 * [backup-simplify]: Simplify lambda2 into lambda2 26.307 * [taylor]: Taking taylor expansion of (* phi1 lambda1) in phi1 26.307 * [taylor]: Taking taylor expansion of phi1 in phi1 26.307 * [backup-simplify]: Simplify 0 into 0 26.307 * [backup-simplify]: Simplify 1 into 1 26.307 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.307 * [backup-simplify]: Simplify lambda1 into lambda1 26.307 * [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) 26.307 * [backup-simplify]: Simplify (* 0 lambda1) into 0 26.307 * [backup-simplify]: Simplify (* lambda2 0) into 0 26.308 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 26.308 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 26.308 * [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)) 26.308 * [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 26.308 * [taylor]: Taking taylor expansion of 2 in phi1 26.308 * [backup-simplify]: Simplify 2 into 2 26.308 * [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 26.308 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 26.308 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 26.308 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.308 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.308 * [backup-simplify]: Simplify 0.5 into 0.5 26.308 * [taylor]: Taking taylor expansion of phi1 in phi1 26.308 * [backup-simplify]: Simplify 0 into 0 26.309 * [backup-simplify]: Simplify 1 into 1 26.309 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.309 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 26.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 26.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 26.309 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.309 * [backup-simplify]: Simplify 0.5 into 0.5 26.309 * [taylor]: Taking taylor expansion of phi1 in phi1 26.309 * [backup-simplify]: Simplify 0 into 0 26.309 * [backup-simplify]: Simplify 1 into 1 26.309 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 26.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.309 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 26.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 26.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.309 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.309 * [backup-simplify]: Simplify 0.5 into 0.5 26.309 * [taylor]: Taking taylor expansion of phi2 in phi1 26.310 * [backup-simplify]: Simplify phi2 into phi2 26.310 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.310 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.310 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.310 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 26.310 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 26.310 * [taylor]: Taking taylor expansion of 0.5 in phi1 26.310 * [backup-simplify]: Simplify 0.5 into 0.5 26.310 * [taylor]: Taking taylor expansion of phi2 in phi1 26.310 * [backup-simplify]: Simplify phi2 into phi2 26.310 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.310 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.310 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.310 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 26.310 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.310 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.310 * [backup-simplify]: Simplify lambda2 into lambda2 26.310 * [taylor]: Taking taylor expansion of phi1 in phi1 26.310 * [backup-simplify]: Simplify 0 into 0 26.310 * [backup-simplify]: Simplify 1 into 1 26.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.310 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.311 * [backup-simplify]: Simplify (- 0) into 0 26.311 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.311 * [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)))) 26.311 * [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))))) 26.311 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.311 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 26.311 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.312 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 26.312 * [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)) 26.313 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) 26.314 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 26.315 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) 26.315 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) 26.315 * [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))) 26.316 * [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))) 26.316 * [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)))) 26.317 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (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))))) 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) 26.324 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 26.327 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 26.330 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) 26.330 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda1 26.330 * [taylor]: Taking taylor expansion of 1/2 in lambda1 26.330 * [backup-simplify]: Simplify 1/2 into 1/2 26.330 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1 26.330 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1 26.330 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 26.331 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 26.331 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 26.331 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 26.331 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.331 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.331 * [backup-simplify]: Simplify 0.5 into 0.5 26.331 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.331 * [backup-simplify]: Simplify phi1 into phi1 26.331 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.331 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.331 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.331 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.331 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.331 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.331 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 26.331 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 26.331 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.331 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.331 * [backup-simplify]: Simplify 0.5 into 0.5 26.331 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.331 * [backup-simplify]: Simplify phi2 into phi2 26.331 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.331 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.331 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.331 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.331 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.331 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.332 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.332 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.332 * [backup-simplify]: Simplify lambda2 into lambda2 26.332 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.332 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.332 * [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)) 26.332 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.332 * [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)) 26.332 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 26.332 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 26.332 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 26.332 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 26.332 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 26.332 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.332 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.332 * [backup-simplify]: Simplify 0.5 into 0.5 26.332 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.332 * [backup-simplify]: Simplify phi1 into phi1 26.332 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.333 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.333 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.333 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.333 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.333 * [backup-simplify]: Simplify (- 0) into 0 26.333 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.333 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 26.333 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 26.333 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.333 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.333 * [backup-simplify]: Simplify 0.5 into 0.5 26.333 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.333 * [backup-simplify]: Simplify phi2 into phi2 26.333 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.334 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.334 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.334 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.334 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.334 * [backup-simplify]: Simplify (- 0) into 0 26.334 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.334 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.334 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.334 * [backup-simplify]: Simplify 0 into 0 26.334 * [backup-simplify]: Simplify 1 into 1 26.334 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.334 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.335 * [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)) 26.335 * [backup-simplify]: Simplify (* 1 1) into 1 26.335 * [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)) 26.335 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 26.335 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 26.335 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 26.335 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 26.335 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 26.335 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.335 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.335 * [backup-simplify]: Simplify 0.5 into 0.5 26.335 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.335 * [backup-simplify]: Simplify phi1 into phi1 26.335 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.335 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.335 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.336 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.336 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.336 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.336 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 26.336 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 26.336 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.336 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.336 * [backup-simplify]: Simplify 0.5 into 0.5 26.336 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.336 * [backup-simplify]: Simplify phi2 into phi2 26.336 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.336 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.336 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.336 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.336 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.337 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.337 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.337 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.337 * [backup-simplify]: Simplify 0 into 0 26.337 * [backup-simplify]: Simplify 1 into 1 26.337 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.337 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.337 * [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)) 26.338 * [backup-simplify]: Simplify (* 1 1) into 1 26.338 * [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)) 26.338 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 26.338 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 26.338 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 26.338 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 26.339 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.339 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.339 * [backup-simplify]: Simplify 0.5 into 0.5 26.339 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.339 * [backup-simplify]: Simplify phi1 into phi1 26.339 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.339 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.339 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.339 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.339 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.339 * [backup-simplify]: Simplify (- 0) into 0 26.340 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.340 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 26.340 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 26.340 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.340 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.340 * [backup-simplify]: Simplify 0.5 into 0.5 26.340 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.340 * [backup-simplify]: Simplify phi2 into phi2 26.340 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.340 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.340 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.340 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.340 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.341 * [backup-simplify]: Simplify (- 0) into 0 26.341 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.341 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.341 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.341 * [backup-simplify]: Simplify lambda2 into lambda2 26.341 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.341 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.342 * [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)) 26.342 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.342 * [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)) 26.342 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1 26.342 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 26.342 * [taylor]: Taking taylor expansion of 2 in lambda1 26.342 * [backup-simplify]: Simplify 2 into 2 26.342 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 26.342 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 26.342 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 26.342 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 26.342 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.342 * [backup-simplify]: Simplify 0.5 into 0.5 26.342 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 26.342 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 26.342 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.342 * [backup-simplify]: Simplify phi1 into phi1 26.343 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.343 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 26.343 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.343 * [backup-simplify]: Simplify phi2 into phi2 26.343 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.343 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 26.343 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 26.343 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.343 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.343 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.344 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 26.344 * [backup-simplify]: Simplify (- 0) into 0 26.344 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.344 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 26.344 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.344 * [backup-simplify]: Simplify lambda2 into lambda2 26.344 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.344 * [backup-simplify]: Simplify 0 into 0 26.344 * [backup-simplify]: Simplify 1 into 1 26.345 * [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) 26.345 * [backup-simplify]: Simplify (* lambda2 0) into 0 26.345 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 26.346 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 26.346 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1 26.346 * [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 26.346 * [taylor]: Taking taylor expansion of 2 in lambda1 26.346 * [backup-simplify]: Simplify 2 into 2 26.346 * [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 26.346 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 26.346 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 26.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.346 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.346 * [backup-simplify]: Simplify 0.5 into 0.5 26.346 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.346 * [backup-simplify]: Simplify phi1 into phi1 26.346 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.346 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 26.346 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 26.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.346 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.346 * [backup-simplify]: Simplify 0.5 into 0.5 26.346 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.346 * [backup-simplify]: Simplify phi1 into phi1 26.346 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.347 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 26.347 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 26.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.347 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.347 * [backup-simplify]: Simplify 0.5 into 0.5 26.347 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.347 * [backup-simplify]: Simplify phi2 into phi2 26.347 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.347 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 26.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.347 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.347 * [backup-simplify]: Simplify 0.5 into 0.5 26.347 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.347 * [backup-simplify]: Simplify phi2 into phi2 26.347 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.347 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.348 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.348 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.348 * [backup-simplify]: Simplify lambda2 into lambda2 26.348 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.348 * [backup-simplify]: Simplify (- 0) into 0 26.348 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.349 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.349 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.350 * [backup-simplify]: Simplify (- 0) into 0 26.350 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.350 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.350 * [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)))) 26.350 * [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))))) 26.350 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.351 * [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)) 26.351 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1 26.351 * [taylor]: Taking taylor expansion of 2 in lambda1 26.351 * [backup-simplify]: Simplify 2 into 2 26.351 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1 26.351 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 26.351 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 26.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.351 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.351 * [backup-simplify]: Simplify 0.5 into 0.5 26.351 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.351 * [backup-simplify]: Simplify phi1 into phi1 26.351 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.352 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.352 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 26.352 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 26.352 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.352 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.352 * [backup-simplify]: Simplify 0.5 into 0.5 26.352 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.352 * [backup-simplify]: Simplify phi1 into phi1 26.352 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.352 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.352 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.352 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 26.352 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 26.352 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.352 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.352 * [backup-simplify]: Simplify 0.5 into 0.5 26.352 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.352 * [backup-simplify]: Simplify phi2 into phi2 26.352 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.352 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.352 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.352 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 26.353 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.353 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.353 * [backup-simplify]: Simplify 0.5 into 0.5 26.353 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.353 * [backup-simplify]: Simplify phi2 into phi2 26.353 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.353 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.353 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.353 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.353 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.353 * [backup-simplify]: Simplify 0 into 0 26.353 * [backup-simplify]: Simplify 1 into 1 26.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.354 * [backup-simplify]: Simplify (- 0) into 0 26.354 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.354 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.354 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.354 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.355 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.355 * [backup-simplify]: Simplify (- 0) into 0 26.355 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.356 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.356 * [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)))) 26.356 * [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))))) 26.357 * [backup-simplify]: Simplify (* 1 1) into 1 26.357 * [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))))) 26.357 * [backup-simplify]: Simplify (+ 0) into 0 26.358 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.358 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.359 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.360 * [backup-simplify]: Simplify (- 0) into 0 26.360 * [backup-simplify]: Simplify (+ 0 0) into 0 26.360 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 26.360 * [backup-simplify]: Simplify (+ 0) into 0 26.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.361 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.362 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.363 * [backup-simplify]: Simplify (- 0) into 0 26.363 * [backup-simplify]: Simplify (+ 0 0) into 0 26.363 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 26.363 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 26.364 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.365 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 26.366 * [backup-simplify]: Simplify (+ 0) into 0 26.366 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.366 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.367 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.368 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.368 * [backup-simplify]: Simplify (+ 0 0) into 0 26.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 26.368 * [backup-simplify]: Simplify (+ 0) into 0 26.369 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.369 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.369 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.370 * [backup-simplify]: Simplify (+ 0 0) into 0 26.370 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 26.370 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 26.370 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.371 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 26.371 * [backup-simplify]: Simplify (+ 0 0) into 0 26.372 * [backup-simplify]: Simplify (+ 0 0) into 0 26.372 * [backup-simplify]: Simplify (+ 0 0) into 0 26.372 * [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)) 26.372 * [backup-simplify]: Simplify (+ 0) into 0 26.373 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.373 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.374 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.374 * [backup-simplify]: Simplify (- 0) into 0 26.374 * [backup-simplify]: Simplify (+ 0 0) into 0 26.374 * [backup-simplify]: Simplify (+ 0) into 0 26.375 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.375 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.376 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.376 * [backup-simplify]: Simplify (+ 0 0) into 0 26.376 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 26.376 * [backup-simplify]: Simplify (+ 0) into 0 26.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.377 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.377 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.378 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.378 * [backup-simplify]: Simplify (+ 0 0) into 0 26.378 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 26.378 * [backup-simplify]: Simplify (+ 0) into 0 26.379 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.379 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.379 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.380 * [backup-simplify]: Simplify (- 0) into 0 26.380 * [backup-simplify]: Simplify (+ 0 0) into 0 26.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 26.380 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.381 * [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 26.382 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 26.382 * [backup-simplify]: Simplify (+ 0 0) into 0 26.382 * [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)) 26.382 * [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))) 26.383 * [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))) 26.383 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 0) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 26.384 * [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))) 26.384 * [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))) 26.384 * [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)))))) 26.385 * [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)))))) 26.385 * [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)))))) 26.385 * [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))))))) 26.386 * [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))))))) 26.387 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 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) lambda2)) 26.387 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 26.387 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 26.387 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 26.387 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 26.387 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 26.387 * [taylor]: Taking taylor expansion of 0.5 in lambda2 26.387 * [backup-simplify]: Simplify 0.5 into 0.5 26.387 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 26.387 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 26.387 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.387 * [backup-simplify]: Simplify phi1 into phi1 26.387 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.387 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 26.387 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.387 * [backup-simplify]: Simplify phi2 into phi2 26.387 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.387 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 26.387 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 26.387 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.388 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.388 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.388 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 26.388 * [backup-simplify]: Simplify (- 0) into 0 26.388 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.388 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.388 * [backup-simplify]: Simplify 0 into 0 26.388 * [backup-simplify]: Simplify 1 into 1 26.389 * [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) 26.389 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 26.389 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 26.389 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 26.390 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) 26.391 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) 26.392 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) 26.392 * [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))) 26.393 * [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))) 26.393 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) 26.394 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) 26.395 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) 26.396 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 26.399 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) 26.402 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) into (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) 26.402 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda1 26.402 * [taylor]: Taking taylor expansion of 1/2 in lambda1 26.402 * [backup-simplify]: Simplify 1/2 into 1/2 26.402 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1 26.402 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1 26.402 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 26.402 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 26.402 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 26.402 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 26.402 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.402 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.402 * [backup-simplify]: Simplify 0.5 into 0.5 26.402 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.402 * [backup-simplify]: Simplify phi1 into phi1 26.402 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.402 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.402 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.402 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.402 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.402 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.402 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 26.402 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 26.402 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.402 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.403 * [backup-simplify]: Simplify 0.5 into 0.5 26.403 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.403 * [backup-simplify]: Simplify phi2 into phi2 26.403 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.403 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.403 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.403 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.403 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.403 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.403 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.403 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.403 * [backup-simplify]: Simplify lambda2 into lambda2 26.403 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.403 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.403 * [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)) 26.403 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.404 * [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)) 26.404 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 26.404 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 26.404 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 26.404 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 26.404 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 26.404 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.404 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.404 * [backup-simplify]: Simplify 0.5 into 0.5 26.404 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.404 * [backup-simplify]: Simplify phi1 into phi1 26.404 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.404 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.404 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.404 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.405 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.405 * [backup-simplify]: Simplify (- 0) into 0 26.405 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.405 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 26.405 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 26.405 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.405 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.405 * [backup-simplify]: Simplify 0.5 into 0.5 26.405 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.405 * [backup-simplify]: Simplify phi2 into phi2 26.406 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.406 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.406 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.406 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.406 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.406 * [backup-simplify]: Simplify (- 0) into 0 26.406 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.407 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.407 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.407 * [backup-simplify]: Simplify 0 into 0 26.407 * [backup-simplify]: Simplify 1 into 1 26.407 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.407 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.407 * [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)) 26.408 * [backup-simplify]: Simplify (* 1 1) into 1 26.408 * [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)) 26.408 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 26.408 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1 26.409 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 26.409 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 26.409 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 26.409 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.409 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.409 * [backup-simplify]: Simplify 0.5 into 0.5 26.409 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.409 * [backup-simplify]: Simplify phi1 into phi1 26.409 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.409 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.409 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.409 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.409 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.409 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.409 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 26.409 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 26.409 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.409 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.410 * [backup-simplify]: Simplify 0.5 into 0.5 26.410 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.410 * [backup-simplify]: Simplify phi2 into phi2 26.410 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.410 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.410 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.410 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.410 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.410 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.410 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.410 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.410 * [backup-simplify]: Simplify 0 into 0 26.410 * [backup-simplify]: Simplify 1 into 1 26.410 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 26.411 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 26.411 * [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)) 26.411 * [backup-simplify]: Simplify (* 1 1) into 1 26.412 * [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)) 26.412 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 26.412 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 26.412 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 26.412 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 26.412 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.412 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.412 * [backup-simplify]: Simplify 0.5 into 0.5 26.412 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.412 * [backup-simplify]: Simplify phi1 into phi1 26.412 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.412 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.412 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.412 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.412 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.412 * [backup-simplify]: Simplify (- 0) into 0 26.413 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.413 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 26.413 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 26.413 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.413 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.413 * [backup-simplify]: Simplify 0.5 into 0.5 26.413 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.413 * [backup-simplify]: Simplify phi2 into phi2 26.413 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.413 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.413 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.413 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.413 * [backup-simplify]: Simplify (- 0) into 0 26.413 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.413 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.413 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.413 * [backup-simplify]: Simplify lambda2 into lambda2 26.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 26.414 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 26.414 * [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)) 26.414 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.414 * [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)) 26.414 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1 26.414 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 26.414 * [taylor]: Taking taylor expansion of 2 in lambda1 26.414 * [backup-simplify]: Simplify 2 into 2 26.414 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 26.414 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 26.414 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 26.414 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 26.414 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.414 * [backup-simplify]: Simplify 0.5 into 0.5 26.414 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 26.414 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 26.414 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.414 * [backup-simplify]: Simplify phi1 into phi1 26.414 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.414 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 26.414 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.414 * [backup-simplify]: Simplify phi2 into phi2 26.414 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.415 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 26.415 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 26.415 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.415 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.415 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.415 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 26.415 * [backup-simplify]: Simplify (- 0) into 0 26.416 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.416 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 26.416 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.416 * [backup-simplify]: Simplify lambda2 into lambda2 26.416 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.416 * [backup-simplify]: Simplify 0 into 0 26.416 * [backup-simplify]: Simplify 1 into 1 26.416 * [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) 26.416 * [backup-simplify]: Simplify (* lambda2 0) into 0 26.416 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 26.416 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 26.416 * [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))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1 26.416 * [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 26.416 * [taylor]: Taking taylor expansion of 2 in lambda1 26.416 * [backup-simplify]: Simplify 2 into 2 26.416 * [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 26.416 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 26.417 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 26.417 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.417 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.417 * [backup-simplify]: Simplify 0.5 into 0.5 26.417 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.417 * [backup-simplify]: Simplify phi1 into phi1 26.417 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.417 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.417 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.417 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 26.417 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 26.417 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.417 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.417 * [backup-simplify]: Simplify 0.5 into 0.5 26.417 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.417 * [backup-simplify]: Simplify phi1 into phi1 26.417 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.417 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.417 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.417 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 26.417 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 26.417 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.417 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.417 * [backup-simplify]: Simplify 0.5 into 0.5 26.417 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.417 * [backup-simplify]: Simplify phi2 into phi2 26.417 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.417 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.417 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.417 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 26.417 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.417 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.417 * [backup-simplify]: Simplify 0.5 into 0.5 26.417 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.417 * [backup-simplify]: Simplify phi2 into phi2 26.417 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.417 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.418 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.418 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.418 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.418 * [backup-simplify]: Simplify lambda2 into lambda2 26.418 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.418 * [backup-simplify]: Simplify (- 0) into 0 26.418 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.418 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.418 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.418 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.418 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.419 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.419 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.419 * [backup-simplify]: Simplify (- 0) into 0 26.419 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.419 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.419 * [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)))) 26.419 * [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))))) 26.419 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.420 * [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)) 26.420 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1 26.420 * [taylor]: Taking taylor expansion of 2 in lambda1 26.420 * [backup-simplify]: Simplify 2 into 2 26.420 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1 26.420 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 26.420 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 26.420 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.420 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.420 * [backup-simplify]: Simplify 0.5 into 0.5 26.420 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.420 * [backup-simplify]: Simplify phi1 into phi1 26.420 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.420 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.420 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.420 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 26.420 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 26.420 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 26.420 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.420 * [backup-simplify]: Simplify 0.5 into 0.5 26.420 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.420 * [backup-simplify]: Simplify phi1 into phi1 26.420 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 26.420 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 26.420 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 26.420 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 26.420 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 26.420 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.420 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.420 * [backup-simplify]: Simplify 0.5 into 0.5 26.420 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.420 * [backup-simplify]: Simplify phi2 into phi2 26.420 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.421 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.421 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.421 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 26.421 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 26.421 * [taylor]: Taking taylor expansion of 0.5 in lambda1 26.421 * [backup-simplify]: Simplify 0.5 into 0.5 26.421 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.421 * [backup-simplify]: Simplify phi2 into phi2 26.421 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 26.421 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 26.421 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 26.421 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.421 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.421 * [backup-simplify]: Simplify 0 into 0 26.421 * [backup-simplify]: Simplify 1 into 1 26.421 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 26.421 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 26.421 * [backup-simplify]: Simplify (- 0) into 0 26.421 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 26.421 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 26.422 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 26.422 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 26.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 26.422 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 26.422 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 26.422 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 26.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 26.422 * [backup-simplify]: Simplify (- 0) into 0 26.422 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 26.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 26.422 * [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)))) 26.423 * [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))))) 26.423 * [backup-simplify]: Simplify (* 1 1) into 1 26.423 * [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))))) 26.423 * [backup-simplify]: Simplify (+ 0) into 0 26.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.424 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.424 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.425 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.425 * [backup-simplify]: Simplify (- 0) into 0 26.425 * [backup-simplify]: Simplify (+ 0 0) into 0 26.425 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 26.425 * [backup-simplify]: Simplify (+ 0) into 0 26.426 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.426 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.427 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.427 * [backup-simplify]: Simplify (- 0) into 0 26.427 * [backup-simplify]: Simplify (+ 0 0) into 0 26.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 26.428 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 26.428 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.429 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 26.429 * [backup-simplify]: Simplify (+ 0) into 0 26.429 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.429 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.430 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.430 * [backup-simplify]: Simplify (+ 0 0) into 0 26.430 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 26.431 * [backup-simplify]: Simplify (+ 0) into 0 26.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.431 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.432 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.432 * [backup-simplify]: Simplify (+ 0 0) into 0 26.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 26.432 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 26.433 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.434 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 26.434 * [backup-simplify]: Simplify (+ 0 0) into 0 26.434 * [backup-simplify]: Simplify (+ 0 0) into 0 26.434 * [backup-simplify]: Simplify (+ 0 0) into 0 26.434 * [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)) 26.435 * [backup-simplify]: Simplify (+ 0) into 0 26.435 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.435 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.436 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.436 * [backup-simplify]: Simplify (- 0) into 0 26.436 * [backup-simplify]: Simplify (+ 0 0) into 0 26.437 * [backup-simplify]: Simplify (+ 0) into 0 26.437 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 26.437 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 26.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.438 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 26.438 * [backup-simplify]: Simplify (+ 0 0) into 0 26.438 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 26.438 * [backup-simplify]: Simplify (+ 0) into 0 26.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.439 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.440 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.440 * [backup-simplify]: Simplify (+ 0 0) into 0 26.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 26.440 * [backup-simplify]: Simplify (+ 0) into 0 26.440 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 26.441 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 26.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.441 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 26.442 * [backup-simplify]: Simplify (- 0) into 0 26.442 * [backup-simplify]: Simplify (+ 0 0) into 0 26.442 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 26.447 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.449 * [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 26.449 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 26.449 * [backup-simplify]: Simplify (+ 0 0) into 0 26.450 * [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)) 26.450 * [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))) 26.450 * [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))) 26.450 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 0) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 26.451 * [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))) 26.451 * [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))) 26.452 * [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)))))) 26.452 * [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)))))) 26.452 * [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)))))) 26.452 * [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))))))) 26.453 * [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))))))) 26.454 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 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) lambda2)) 26.454 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 26.454 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 26.454 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 26.454 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 26.454 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 26.454 * [taylor]: Taking taylor expansion of 0.5 in lambda2 26.454 * [backup-simplify]: Simplify 0.5 into 0.5 26.454 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 26.454 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 26.454 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.454 * [backup-simplify]: Simplify phi1 into phi1 26.454 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.454 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 26.454 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.454 * [backup-simplify]: Simplify phi2 into phi2 26.454 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.454 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 26.455 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 26.455 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.455 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.455 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.455 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 26.455 * [backup-simplify]: Simplify (- 0) into 0 26.455 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.455 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.456 * [backup-simplify]: Simplify 0 into 0 26.456 * [backup-simplify]: Simplify 1 into 1 26.456 * [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) 26.456 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 26.457 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 26.457 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 26.458 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 26.458 * [taylor]: Taking taylor expansion of 0 in lambda1 26.458 * [backup-simplify]: Simplify 0 into 0 26.458 * [taylor]: Taking taylor expansion of 0 in lambda1 26.458 * [backup-simplify]: Simplify 0 into 0 26.458 * [taylor]: Taking taylor expansion of 0 in lambda2 26.458 * [backup-simplify]: Simplify 0 into 0 26.458 * [taylor]: Taking taylor expansion of 0 in lambda2 26.458 * [backup-simplify]: Simplify 0 into 0 26.459 * [taylor]: Taking taylor expansion of 0 in lambda2 26.459 * [backup-simplify]: Simplify 0 into 0 26.459 * [taylor]: Taking taylor expansion of 0 in lambda2 26.459 * [backup-simplify]: Simplify 0 into 0 26.459 * [backup-simplify]: Simplify -1 into -1 26.461 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* (/ 1 (/ 1 phi1)) 1)))) (+ (* (- (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2)) (* (/ 1 (/ 1 lambda2)) (* (/ 1 (/ 1 lambda1)) (* 1 (/ 1 phi2))))) (* (- (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2)) (* (/ 1 (/ 1 lambda2)) (* (/ 1 (/ 1 lambda1)) (* (/ 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))) 26.464 * [backup-simplify]: Simplify (sqrt (+ (- (* (pow (- (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5))) (* (sin (* 0.5 (/ 1 (- phi2)))) (sin (* 0.5 (/ 1 (- phi1)))))) 2) (+ (pow (/ 1 (- lambda1)) 2) (pow (/ 1 (- lambda2)) 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)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) 26.464 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in (phi2 phi1 lambda1 lambda2) around 0 26.465 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in lambda2 26.465 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in lambda2 26.465 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in lambda2 26.465 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 26.465 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 26.465 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.465 * [backup-simplify]: Simplify phi2 into phi2 26.465 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 26.465 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 26.465 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda2 26.465 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 26.465 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 26.465 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.465 * [backup-simplify]: Simplify phi1 into phi1 26.465 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 26.466 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 26.466 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda2 26.466 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2 26.466 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.466 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.466 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.466 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.466 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.466 * [backup-simplify]: Simplify -0.5 into -0.5 26.466 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.466 * [backup-simplify]: Simplify phi2 into phi2 26.466 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.466 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.466 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.466 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.467 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.467 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.467 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.467 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.467 * [backup-simplify]: Simplify -0.5 into -0.5 26.467 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.467 * [backup-simplify]: Simplify phi1 into phi1 26.467 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.467 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.467 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.468 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.468 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.468 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 26.468 * [taylor]: Taking taylor expansion of lambda1 in lambda2 26.468 * [backup-simplify]: Simplify lambda1 into lambda1 26.468 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.468 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.468 * [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)) 26.468 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.469 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 26.469 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2 26.469 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 26.469 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.469 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.469 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.469 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.469 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.469 * [backup-simplify]: Simplify -0.5 into -0.5 26.469 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.469 * [backup-simplify]: Simplify phi2 into phi2 26.469 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.469 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.469 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.470 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.470 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.470 * [backup-simplify]: Simplify (- 0) into 0 26.470 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.470 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.470 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.470 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.471 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.471 * [backup-simplify]: Simplify -0.5 into -0.5 26.471 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.471 * [backup-simplify]: Simplify phi1 into phi1 26.471 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.471 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.471 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.471 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.471 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.471 * [backup-simplify]: Simplify (- 0) into 0 26.472 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.472 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 26.472 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.472 * [backup-simplify]: Simplify 0 into 0 26.472 * [backup-simplify]: Simplify 1 into 1 26.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.472 * [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)) 26.473 * [backup-simplify]: Simplify (* 1 1) into 1 26.473 * [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)) 26.473 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2 26.473 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2 26.473 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.473 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.473 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.473 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.473 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.474 * [backup-simplify]: Simplify -0.5 into -0.5 26.474 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.474 * [backup-simplify]: Simplify phi2 into phi2 26.474 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.474 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.474 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.474 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.474 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.474 * [backup-simplify]: Simplify (- 0) into 0 26.475 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.475 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.475 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.475 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.475 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.475 * [backup-simplify]: Simplify -0.5 into -0.5 26.475 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.475 * [backup-simplify]: Simplify phi1 into phi1 26.475 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.475 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.475 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.475 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.476 * [backup-simplify]: Simplify (- 0) into 0 26.476 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.476 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 26.476 * [taylor]: Taking taylor expansion of lambda1 in lambda2 26.476 * [backup-simplify]: Simplify lambda1 into lambda1 26.476 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.477 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.477 * [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)) 26.477 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.477 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 26.477 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 26.478 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.478 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.478 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.478 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.478 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.478 * [backup-simplify]: Simplify -0.5 into -0.5 26.478 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.478 * [backup-simplify]: Simplify phi2 into phi2 26.478 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.478 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.478 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.478 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.478 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.478 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.478 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.479 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.479 * [backup-simplify]: Simplify -0.5 into -0.5 26.479 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.479 * [backup-simplify]: Simplify phi1 into phi1 26.479 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.479 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.479 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.479 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.479 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.479 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 26.479 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.479 * [backup-simplify]: Simplify 0 into 0 26.479 * [backup-simplify]: Simplify 1 into 1 26.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.480 * [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)) 26.481 * [backup-simplify]: Simplify (* 1 1) into 1 26.481 * [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)) 26.481 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in lambda2 26.481 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 26.481 * [taylor]: Taking taylor expansion of 2 in lambda2 26.481 * [backup-simplify]: Simplify 2 into 2 26.481 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 26.481 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 26.481 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 26.481 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 26.481 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.481 * [backup-simplify]: Simplify -0.5 into -0.5 26.481 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 26.481 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 26.481 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.481 * [backup-simplify]: Simplify phi1 into phi1 26.481 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.482 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 26.482 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.482 * [backup-simplify]: Simplify phi2 into phi2 26.482 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.482 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 26.482 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 26.482 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.482 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.483 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.483 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 26.483 * [backup-simplify]: Simplify (- 0) into 0 26.483 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.483 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 26.483 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.484 * [backup-simplify]: Simplify 0 into 0 26.484 * [backup-simplify]: Simplify 1 into 1 26.484 * [taylor]: Taking taylor expansion of lambda1 in lambda2 26.484 * [backup-simplify]: Simplify lambda1 into lambda1 26.484 * [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) 26.484 * [backup-simplify]: Simplify (* 0 lambda1) into 0 26.484 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 26.484 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 26.484 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in lambda2 26.484 * [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 26.484 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2 26.484 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.484 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.484 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.484 * [backup-simplify]: Simplify -0.5 into -0.5 26.484 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.485 * [backup-simplify]: Simplify phi1 into phi1 26.485 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.485 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.485 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.485 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2 26.485 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.485 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.485 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.485 * [backup-simplify]: Simplify -0.5 into -0.5 26.485 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.485 * [backup-simplify]: Simplify phi2 into phi2 26.485 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.485 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.485 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.485 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 26.485 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.485 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.485 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.485 * [backup-simplify]: Simplify -0.5 into -0.5 26.485 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.485 * [backup-simplify]: Simplify phi2 into phi2 26.485 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.485 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.485 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.485 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.485 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.485 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.485 * [backup-simplify]: Simplify -0.5 into -0.5 26.485 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.485 * [backup-simplify]: Simplify phi1 into phi1 26.485 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.485 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.485 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.485 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 26.485 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.486 * [backup-simplify]: Simplify 0 into 0 26.486 * [backup-simplify]: Simplify 1 into 1 26.486 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.486 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.486 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.486 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.486 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.486 * [backup-simplify]: Simplify (- 0) into 0 26.486 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.486 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.486 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.486 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.487 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.487 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.487 * [backup-simplify]: Simplify (- 0) into 0 26.487 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.487 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.487 * [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)))) 26.487 * [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))))) 26.488 * [backup-simplify]: Simplify (* 1 1) into 1 26.488 * [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))))) 26.488 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in lambda2 26.488 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2 26.488 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 26.488 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.488 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.488 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.488 * [backup-simplify]: Simplify -0.5 into -0.5 26.488 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.488 * [backup-simplify]: Simplify phi1 into phi1 26.488 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.488 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.488 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.488 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 26.489 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.489 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.489 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.489 * [backup-simplify]: Simplify -0.5 into -0.5 26.489 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.489 * [backup-simplify]: Simplify phi2 into phi2 26.489 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.489 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.489 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.489 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 26.489 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.489 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.489 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.489 * [backup-simplify]: Simplify -0.5 into -0.5 26.489 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.489 * [backup-simplify]: Simplify phi2 into phi2 26.489 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.489 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.489 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.489 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.489 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.489 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.489 * [backup-simplify]: Simplify -0.5 into -0.5 26.489 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.489 * [backup-simplify]: Simplify phi1 into phi1 26.489 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.489 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.489 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.489 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 26.489 * [taylor]: Taking taylor expansion of lambda1 in lambda2 26.489 * [backup-simplify]: Simplify lambda1 into lambda1 26.489 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.489 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.490 * [backup-simplify]: Simplify (- 0) into 0 26.490 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.490 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.490 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.490 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.490 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.490 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.490 * [backup-simplify]: Simplify (- 0) into 0 26.490 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.491 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.491 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.491 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.491 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.491 * [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)))) 26.491 * [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))))) 26.491 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.491 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) 26.491 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in lambda2 26.492 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 26.492 * [taylor]: Taking taylor expansion of 2 in lambda2 26.492 * [backup-simplify]: Simplify 2 into 2 26.492 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 26.492 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 26.492 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.492 * [backup-simplify]: Simplify phi2 into phi2 26.492 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.492 * [backup-simplify]: Simplify phi1 into phi1 26.492 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 26.492 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 26.492 * [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 lambda1 2))) in lambda2 26.492 * [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 26.492 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 26.492 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.492 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.492 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.492 * [backup-simplify]: Simplify -0.5 into -0.5 26.492 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.492 * [backup-simplify]: Simplify phi1 into phi1 26.492 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.492 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.492 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.492 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 26.492 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.492 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.492 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.492 * [backup-simplify]: Simplify -0.5 into -0.5 26.492 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.492 * [backup-simplify]: Simplify phi2 into phi2 26.492 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.492 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.492 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.492 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 26.492 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.492 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.492 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.492 * [backup-simplify]: Simplify -0.5 into -0.5 26.492 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.493 * [backup-simplify]: Simplify phi2 into phi2 26.493 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.493 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.493 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.493 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.493 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.493 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.493 * [backup-simplify]: Simplify -0.5 into -0.5 26.493 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.493 * [backup-simplify]: Simplify phi1 into phi1 26.493 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.493 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.493 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.493 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 26.493 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.493 * [backup-simplify]: Simplify 0 into 0 26.493 * [backup-simplify]: Simplify 1 into 1 26.493 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.493 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.494 * [backup-simplify]: Simplify (- 0) into 0 26.494 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.494 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.494 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.494 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.494 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.494 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.494 * [backup-simplify]: Simplify (- 0) into 0 26.494 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.494 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.495 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.495 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.495 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.495 * [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)))) 26.495 * [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))))) 26.495 * [backup-simplify]: Simplify (* 1 1) into 1 26.495 * [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))))) 26.496 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2 26.496 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2 26.496 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.496 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.496 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.496 * [backup-simplify]: Simplify -0.5 into -0.5 26.496 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.496 * [backup-simplify]: Simplify phi1 into phi1 26.496 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.496 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.496 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.496 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2 26.496 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.496 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.496 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.496 * [backup-simplify]: Simplify -0.5 into -0.5 26.496 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.496 * [backup-simplify]: Simplify phi2 into phi2 26.496 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.496 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.496 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.496 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 26.496 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.496 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.496 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.496 * [backup-simplify]: Simplify -0.5 into -0.5 26.496 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.496 * [backup-simplify]: Simplify phi2 into phi2 26.496 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.496 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.496 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.496 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.496 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.496 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.496 * [backup-simplify]: Simplify -0.5 into -0.5 26.496 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.497 * [backup-simplify]: Simplify phi1 into phi1 26.497 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.497 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.497 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.497 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 26.497 * [taylor]: Taking taylor expansion of lambda1 in lambda2 26.497 * [backup-simplify]: Simplify lambda1 into lambda1 26.497 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.497 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.497 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.497 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.497 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.497 * [backup-simplify]: Simplify (- 0) into 0 26.497 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.497 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.497 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.498 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.498 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.498 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.498 * [backup-simplify]: Simplify (- 0) into 0 26.498 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.498 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.498 * [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)))) 26.498 * [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))))) 26.498 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.499 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 26.499 * [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)) 26.499 * [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))) 26.500 * [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))) 26.500 * [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))) 26.501 * [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))) 26.501 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 26.501 * [backup-simplify]: Simplify (+ 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 26.502 * [backup-simplify]: Simplify (+ 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 26.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -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)))))) 26.502 * [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)))))) 26.503 * [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))))))) 26.504 * [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))))))) 26.505 * [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)))))))) 26.505 * [backup-simplify]: Simplify (+ 0) into 0 26.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.506 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.507 * [backup-simplify]: Simplify (- 0) into 0 26.507 * [backup-simplify]: Simplify (+ 0 0) into 0 26.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.507 * [backup-simplify]: Simplify (+ 0) into 0 26.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.508 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.508 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.509 * [backup-simplify]: Simplify (- 0) into 0 26.509 * [backup-simplify]: Simplify (+ 0 0) into 0 26.509 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.509 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.510 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.510 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 26.511 * [backup-simplify]: Simplify (+ 0) into 0 26.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.511 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.511 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.512 * [backup-simplify]: Simplify (+ 0 0) into 0 26.512 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.512 * [backup-simplify]: Simplify (+ 0) into 0 26.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.513 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.514 * [backup-simplify]: Simplify (+ 0 0) into 0 26.514 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.514 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.515 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.515 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 26.515 * [backup-simplify]: Simplify (+ 0 0) into 0 26.516 * [backup-simplify]: Simplify (+ 0 0) into 0 26.516 * [backup-simplify]: Simplify (+ 0 0) into 0 26.516 * [backup-simplify]: Simplify (+ 0 0) into 0 26.516 * [backup-simplify]: Simplify (+ 0 0) into 0 26.517 * [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)) 26.517 * [backup-simplify]: Simplify (+ 0) into 0 26.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.517 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.518 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.518 * [backup-simplify]: Simplify (- 0) into 0 26.518 * [backup-simplify]: Simplify (+ 0 0) into 0 26.519 * [backup-simplify]: Simplify (+ 0) into 0 26.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.519 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.520 * [backup-simplify]: Simplify (+ 0 0) into 0 26.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.521 * [backup-simplify]: Simplify (+ 0) into 0 26.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.521 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.522 * [backup-simplify]: Simplify (- 0) into 0 26.522 * [backup-simplify]: Simplify (+ 0 0) into 0 26.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 26.523 * [backup-simplify]: Simplify (+ 0) into 0 26.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.523 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.524 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.524 * [backup-simplify]: Simplify (+ 0 0) into 0 26.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 26.525 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.525 * [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 26.526 * [backup-simplify]: Simplify (+ 0) into 0 26.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.526 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.526 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.527 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.527 * [backup-simplify]: Simplify (+ 0 0) into 0 26.527 * [backup-simplify]: Simplify (+ 0) into 0 26.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.528 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.529 * [backup-simplify]: Simplify (- 0) into 0 26.529 * [backup-simplify]: Simplify (+ 0 0) into 0 26.529 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.529 * [backup-simplify]: Simplify (+ 0) into 0 26.530 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.530 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.530 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.531 * [backup-simplify]: Simplify (+ 0 0) into 0 26.531 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 26.531 * [backup-simplify]: Simplify (+ 0) into 0 26.531 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.532 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.533 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.533 * [backup-simplify]: Simplify (- 0) into 0 26.533 * [backup-simplify]: Simplify (+ 0 0) into 0 26.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 26.534 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.536 * [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 26.536 * [backup-simplify]: Simplify (+ 0 0) into 0 26.537 * [backup-simplify]: Simplify (+ 0 0) into 0 26.537 * [backup-simplify]: Simplify (+ 0 0) into 0 26.537 * [backup-simplify]: Simplify (+ 0 0) into 0 26.538 * [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)) 26.538 * [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))) 26.539 * [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))) 26.541 * [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 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 (* (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))) 26.541 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in lambda1 26.542 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in lambda1 26.542 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in lambda1 26.542 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 26.542 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 26.542 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.542 * [backup-simplify]: Simplify phi2 into phi2 26.542 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 26.542 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 26.542 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda1 26.542 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 26.542 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 26.542 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.542 * [backup-simplify]: Simplify phi1 into phi1 26.542 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 26.542 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 26.542 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1 26.542 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 26.542 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 26.543 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 26.543 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 26.543 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.543 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.543 * [backup-simplify]: Simplify -0.5 into -0.5 26.543 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.543 * [backup-simplify]: Simplify phi2 into phi2 26.543 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.543 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.543 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.543 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.543 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 26.543 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 26.543 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.543 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.543 * [backup-simplify]: Simplify -0.5 into -0.5 26.543 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.543 * [backup-simplify]: Simplify phi1 into phi1 26.544 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.544 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.544 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.544 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.544 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.544 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.544 * [backup-simplify]: Simplify 0 into 0 26.544 * [backup-simplify]: Simplify 1 into 1 26.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.544 * [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)) 26.545 * [backup-simplify]: Simplify (* 1 1) into 1 26.545 * [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)) 26.545 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 26.545 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 26.545 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 26.545 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 26.545 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 26.545 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.545 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.545 * [backup-simplify]: Simplify -0.5 into -0.5 26.545 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.545 * [backup-simplify]: Simplify phi2 into phi2 26.545 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.545 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.545 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.545 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.546 * [backup-simplify]: Simplify (- 0) into 0 26.546 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.546 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 26.546 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 26.546 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.546 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.546 * [backup-simplify]: Simplify -0.5 into -0.5 26.546 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.546 * [backup-simplify]: Simplify phi1 into phi1 26.546 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.546 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.546 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.546 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.546 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.546 * [backup-simplify]: Simplify (- 0) into 0 26.546 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.546 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.546 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.547 * [backup-simplify]: Simplify lambda2 into lambda2 26.547 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.547 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.547 * [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)) 26.547 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.547 * [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)) 26.547 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 26.547 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 26.547 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 26.547 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 26.547 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 26.547 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.547 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.547 * [backup-simplify]: Simplify -0.5 into -0.5 26.548 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.548 * [backup-simplify]: Simplify phi2 into phi2 26.548 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.548 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.548 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.548 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.548 * [backup-simplify]: Simplify (- 0) into 0 26.548 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.548 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 26.548 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 26.548 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.548 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.548 * [backup-simplify]: Simplify -0.5 into -0.5 26.548 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.548 * [backup-simplify]: Simplify phi1 into phi1 26.548 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.548 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.548 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.549 * [backup-simplify]: Simplify (- 0) into 0 26.549 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.549 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.549 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.549 * [backup-simplify]: Simplify 0 into 0 26.549 * [backup-simplify]: Simplify 1 into 1 26.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.549 * [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)) 26.550 * [backup-simplify]: Simplify (* 1 1) into 1 26.550 * [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)) 26.550 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 26.550 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 26.550 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 26.550 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 26.550 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.550 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.550 * [backup-simplify]: Simplify -0.5 into -0.5 26.550 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.550 * [backup-simplify]: Simplify phi2 into phi2 26.550 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.550 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.550 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.550 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.550 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.550 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 26.550 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 26.550 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.550 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.550 * [backup-simplify]: Simplify -0.5 into -0.5 26.551 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.551 * [backup-simplify]: Simplify phi1 into phi1 26.551 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.551 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.551 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.551 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.551 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.551 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.551 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.551 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.551 * [backup-simplify]: Simplify lambda2 into lambda2 26.551 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.551 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.551 * [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)) 26.551 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.552 * [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)) 26.552 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in lambda1 26.552 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 26.552 * [taylor]: Taking taylor expansion of 2 in lambda1 26.552 * [backup-simplify]: Simplify 2 into 2 26.552 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 26.552 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 26.552 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 26.552 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 26.552 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.552 * [backup-simplify]: Simplify -0.5 into -0.5 26.552 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 26.552 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 26.552 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.552 * [backup-simplify]: Simplify phi1 into phi1 26.552 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.552 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 26.552 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.552 * [backup-simplify]: Simplify phi2 into phi2 26.552 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.552 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 26.552 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 26.552 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.552 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.553 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.553 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 26.553 * [backup-simplify]: Simplify (- 0) into 0 26.553 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.553 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 26.553 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.553 * [backup-simplify]: Simplify lambda2 into lambda2 26.553 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.553 * [backup-simplify]: Simplify 0 into 0 26.553 * [backup-simplify]: Simplify 1 into 1 26.553 * [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) 26.553 * [backup-simplify]: Simplify (* lambda2 0) into 0 26.554 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 26.554 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 26.554 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in lambda1 26.554 * [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 26.554 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 26.554 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 26.554 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.554 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.554 * [backup-simplify]: Simplify -0.5 into -0.5 26.554 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.554 * [backup-simplify]: Simplify phi1 into phi1 26.554 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.554 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.554 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.554 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 26.554 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 26.554 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.554 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.554 * [backup-simplify]: Simplify -0.5 into -0.5 26.554 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.554 * [backup-simplify]: Simplify phi2 into phi2 26.554 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.554 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.555 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.555 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 26.555 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 26.555 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.555 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.555 * [backup-simplify]: Simplify -0.5 into -0.5 26.555 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.555 * [backup-simplify]: Simplify phi2 into phi2 26.555 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.555 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.555 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.555 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 26.555 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.555 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.555 * [backup-simplify]: Simplify -0.5 into -0.5 26.555 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.555 * [backup-simplify]: Simplify phi1 into phi1 26.555 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.555 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.555 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.555 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.555 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.555 * [backup-simplify]: Simplify lambda2 into lambda2 26.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.555 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.556 * [backup-simplify]: Simplify (- 0) into 0 26.556 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.556 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.556 * [backup-simplify]: Simplify (- 0) into 0 26.556 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.557 * [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)))) 26.557 * [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))))) 26.557 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.557 * [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)) 26.557 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in lambda1 26.557 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 26.557 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 26.557 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 26.557 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.557 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.557 * [backup-simplify]: Simplify -0.5 into -0.5 26.557 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.557 * [backup-simplify]: Simplify phi1 into phi1 26.557 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.557 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.557 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.558 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 26.558 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 26.558 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.558 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.558 * [backup-simplify]: Simplify -0.5 into -0.5 26.558 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.558 * [backup-simplify]: Simplify phi2 into phi2 26.558 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.558 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.558 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.558 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 26.558 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 26.558 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.558 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.558 * [backup-simplify]: Simplify -0.5 into -0.5 26.558 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.558 * [backup-simplify]: Simplify phi2 into phi2 26.558 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.558 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.558 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.558 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 26.558 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.558 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.558 * [backup-simplify]: Simplify -0.5 into -0.5 26.558 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.558 * [backup-simplify]: Simplify phi1 into phi1 26.558 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.558 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.558 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.558 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.558 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.558 * [backup-simplify]: Simplify 0 into 0 26.558 * [backup-simplify]: Simplify 1 into 1 26.558 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.558 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.559 * [backup-simplify]: Simplify (- 0) into 0 26.559 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.559 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.559 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.559 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.559 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.559 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.559 * [backup-simplify]: Simplify (- 0) into 0 26.559 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.560 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.560 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.560 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.560 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.560 * [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)))) 26.560 * [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))))) 26.560 * [backup-simplify]: Simplify (* 1 1) into 1 26.561 * [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))))) 26.561 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in lambda1 26.561 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 26.561 * [taylor]: Taking taylor expansion of 2 in lambda1 26.561 * [backup-simplify]: Simplify 2 into 2 26.561 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 26.561 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 26.561 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.561 * [backup-simplify]: Simplify phi2 into phi2 26.561 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.561 * [backup-simplify]: Simplify phi1 into phi1 26.561 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 26.561 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 26.561 * [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 lambda1 2))) in lambda1 26.561 * [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 26.561 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 26.561 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 26.561 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.561 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.561 * [backup-simplify]: Simplify -0.5 into -0.5 26.561 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.561 * [backup-simplify]: Simplify phi1 into phi1 26.561 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.561 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.561 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.561 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 26.561 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 26.561 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.561 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.561 * [backup-simplify]: Simplify -0.5 into -0.5 26.561 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.561 * [backup-simplify]: Simplify phi2 into phi2 26.561 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.561 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.561 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.561 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 26.561 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 26.561 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.562 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.562 * [backup-simplify]: Simplify -0.5 into -0.5 26.562 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.562 * [backup-simplify]: Simplify phi2 into phi2 26.562 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.562 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.562 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.562 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 26.562 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.562 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.562 * [backup-simplify]: Simplify -0.5 into -0.5 26.562 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.562 * [backup-simplify]: Simplify phi1 into phi1 26.562 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.562 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.562 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.562 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.562 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.562 * [backup-simplify]: Simplify lambda2 into lambda2 26.562 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.562 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.562 * [backup-simplify]: Simplify (- 0) into 0 26.562 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.563 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.563 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.563 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.563 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.563 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.563 * [backup-simplify]: Simplify (- 0) into 0 26.563 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.563 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.563 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.563 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.563 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.564 * [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)))) 26.564 * [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))))) 26.564 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.564 * [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)) 26.564 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 26.564 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 26.564 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 26.564 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.564 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.564 * [backup-simplify]: Simplify -0.5 into -0.5 26.564 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.564 * [backup-simplify]: Simplify phi1 into phi1 26.564 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.564 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.564 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.564 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 26.564 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 26.564 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.564 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.565 * [backup-simplify]: Simplify -0.5 into -0.5 26.565 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.565 * [backup-simplify]: Simplify phi2 into phi2 26.565 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.565 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.565 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.565 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 26.565 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 26.565 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.565 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.565 * [backup-simplify]: Simplify -0.5 into -0.5 26.565 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.565 * [backup-simplify]: Simplify phi2 into phi2 26.565 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.565 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.565 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.565 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 26.565 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.565 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.565 * [backup-simplify]: Simplify -0.5 into -0.5 26.565 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.565 * [backup-simplify]: Simplify phi1 into phi1 26.565 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.565 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.565 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.565 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.565 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.565 * [backup-simplify]: Simplify 0 into 0 26.565 * [backup-simplify]: Simplify 1 into 1 26.565 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.565 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.565 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.566 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.566 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.566 * [backup-simplify]: Simplify (- 0) into 0 26.566 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.566 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.566 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.566 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.566 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.566 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.567 * [backup-simplify]: Simplify (- 0) into 0 26.567 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.567 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.567 * [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)))) 26.567 * [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))))) 26.567 * [backup-simplify]: Simplify (* 1 1) into 1 26.567 * [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))))) 26.568 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 0) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 26.568 * [backup-simplify]: Simplify (+ 0 (* (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)) 26.568 * [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))) 26.569 * [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))) 26.569 * [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))) 26.570 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (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))))) 26.570 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (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))))) 26.570 * [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)))))) 26.571 * [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)))))) 26.571 * [backup-simplify]: Simplify (+ 0 (+ (* (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)))))) 26.572 * [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 (- (+ (* (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))))))) 26.573 * [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)))))))) 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))))))) 26.574 * [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 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 (- (+ (* (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)))))))) 26.579 * [backup-simplify]: Simplify (+ 0) into 0 26.580 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.580 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.580 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.581 * [backup-simplify]: Simplify (+ 0 0) into 0 26.581 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.581 * [backup-simplify]: Simplify (+ 0) into 0 26.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.582 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.583 * [backup-simplify]: Simplify (+ 0 0) into 0 26.583 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.583 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.584 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.584 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 26.585 * [backup-simplify]: Simplify (+ 0) into 0 26.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.586 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.586 * [backup-simplify]: Simplify (- 0) into 0 26.586 * [backup-simplify]: Simplify (+ 0 0) into 0 26.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.587 * [backup-simplify]: Simplify (+ 0) into 0 26.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.587 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.588 * [backup-simplify]: Simplify (- 0) into 0 26.589 * [backup-simplify]: Simplify (+ 0 0) into 0 26.589 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.589 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.589 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.590 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 26.590 * [backup-simplify]: Simplify (+ 0 0) into 0 26.590 * [backup-simplify]: Simplify (+ 0 0) into 0 26.591 * [backup-simplify]: Simplify (+ 0 0) into 0 26.591 * [backup-simplify]: Simplify (+ 0 0) into 0 26.591 * [backup-simplify]: Simplify (+ 0 0) into 0 26.591 * [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)) 26.592 * [backup-simplify]: Simplify (+ 0) into 0 26.592 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.593 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.593 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.594 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.594 * [backup-simplify]: Simplify (+ 0 0) into 0 26.594 * [backup-simplify]: Simplify (+ 0) into 0 26.595 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.595 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.596 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.596 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.597 * [backup-simplify]: Simplify (- 0) into 0 26.597 * [backup-simplify]: Simplify (+ 0 0) into 0 26.597 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.598 * [backup-simplify]: Simplify (+ 0) into 0 26.598 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.598 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.600 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.600 * [backup-simplify]: Simplify (+ 0 0) into 0 26.600 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 26.601 * [backup-simplify]: Simplify (+ 0) into 0 26.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.601 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.603 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.603 * [backup-simplify]: Simplify (- 0) into 0 26.603 * [backup-simplify]: Simplify (+ 0 0) into 0 26.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 26.604 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.606 * [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 26.606 * [backup-simplify]: Simplify (+ 0) into 0 26.607 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.607 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.608 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.608 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.608 * [backup-simplify]: Simplify (- 0) into 0 26.609 * [backup-simplify]: Simplify (+ 0 0) into 0 26.609 * [backup-simplify]: Simplify (+ 0) into 0 26.609 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.610 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.611 * [backup-simplify]: Simplify (+ 0 0) into 0 26.612 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.612 * [backup-simplify]: Simplify (+ 0) into 0 26.612 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.613 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.613 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.614 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.614 * [backup-simplify]: Simplify (- 0) into 0 26.615 * [backup-simplify]: Simplify (+ 0 0) into 0 26.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 26.615 * [backup-simplify]: Simplify (+ 0) into 0 26.616 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.616 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.617 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.617 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.618 * [backup-simplify]: Simplify (+ 0 0) into 0 26.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 26.619 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.620 * [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 26.620 * [backup-simplify]: Simplify (+ 0 0) into 0 26.620 * [backup-simplify]: Simplify (+ 0 0) into 0 26.621 * [backup-simplify]: Simplify (+ 0 0) into 0 26.621 * [backup-simplify]: Simplify (+ 0 0) into 0 26.622 * [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)) 26.622 * [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))) 26.623 * [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))) 26.625 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 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 (* -1 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 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))) (+ (* (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))))))))))) 26.625 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in phi1 26.625 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in phi1 26.625 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in phi1 26.625 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 26.625 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 26.625 * [taylor]: Taking taylor expansion of phi2 in phi1 26.625 * [backup-simplify]: Simplify phi2 into phi2 26.626 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 26.626 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 26.626 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi1 26.626 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 26.626 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 26.626 * [taylor]: Taking taylor expansion of phi1 in phi1 26.626 * [backup-simplify]: Simplify 0 into 0 26.626 * [backup-simplify]: Simplify 1 into 1 26.626 * [backup-simplify]: Simplify (* 1 1) into 1 26.627 * [backup-simplify]: Simplify (/ 1 1) into 1 26.627 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi1 26.627 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 26.627 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 26.627 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 26.627 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.627 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.627 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.627 * [backup-simplify]: Simplify -0.5 into -0.5 26.627 * [taylor]: Taking taylor expansion of phi2 in phi1 26.627 * [backup-simplify]: Simplify phi2 into phi2 26.627 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.627 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.627 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.628 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.628 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.628 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.628 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 26.628 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.628 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.628 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.628 * [backup-simplify]: Simplify -0.5 into -0.5 26.628 * [taylor]: Taking taylor expansion of phi1 in phi1 26.628 * [backup-simplify]: Simplify 0 into 0 26.628 * [backup-simplify]: Simplify 1 into 1 26.629 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.629 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.629 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.629 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.629 * [backup-simplify]: Simplify lambda1 into lambda1 26.629 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.629 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.630 * [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)) 26.630 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.630 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 26.630 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 26.630 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 26.630 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 26.630 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 26.630 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.630 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.630 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.630 * [backup-simplify]: Simplify -0.5 into -0.5 26.630 * [taylor]: Taking taylor expansion of phi2 in phi1 26.631 * [backup-simplify]: Simplify phi2 into phi2 26.631 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.631 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.631 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.632 * [backup-simplify]: Simplify (- 0) into 0 26.632 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.632 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 26.632 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.632 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.632 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.632 * [backup-simplify]: Simplify -0.5 into -0.5 26.632 * [taylor]: Taking taylor expansion of phi1 in phi1 26.632 * [backup-simplify]: Simplify 0 into 0 26.632 * [backup-simplify]: Simplify 1 into 1 26.632 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.632 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.632 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.633 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.633 * [backup-simplify]: Simplify lambda2 into lambda2 26.633 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.633 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.633 * [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)) 26.633 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.634 * [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)) 26.634 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 26.634 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 26.634 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 26.634 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 26.634 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.634 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.634 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.634 * [backup-simplify]: Simplify -0.5 into -0.5 26.634 * [taylor]: Taking taylor expansion of phi2 in phi1 26.634 * [backup-simplify]: Simplify phi2 into phi2 26.634 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.634 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.634 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.635 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.635 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.635 * [backup-simplify]: Simplify (- 0) into 0 26.635 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.635 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 26.635 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.635 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.635 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.635 * [backup-simplify]: Simplify -0.5 into -0.5 26.635 * [taylor]: Taking taylor expansion of phi1 in phi1 26.635 * [backup-simplify]: Simplify 0 into 0 26.635 * [backup-simplify]: Simplify 1 into 1 26.636 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.636 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.636 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.636 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.636 * [backup-simplify]: Simplify lambda1 into lambda1 26.636 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.636 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.637 * [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)) 26.637 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.637 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 26.638 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 26.638 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 26.638 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 26.638 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.638 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.638 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.638 * [backup-simplify]: Simplify -0.5 into -0.5 26.638 * [taylor]: Taking taylor expansion of phi2 in phi1 26.638 * [backup-simplify]: Simplify phi2 into phi2 26.638 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.638 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.638 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.638 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.638 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.638 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.638 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 26.638 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.639 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.639 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.639 * [backup-simplify]: Simplify -0.5 into -0.5 26.639 * [taylor]: Taking taylor expansion of phi1 in phi1 26.639 * [backup-simplify]: Simplify 0 into 0 26.639 * [backup-simplify]: Simplify 1 into 1 26.639 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.639 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.639 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.639 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.639 * [backup-simplify]: Simplify lambda2 into lambda2 26.640 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.640 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.640 * [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)) 26.640 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.641 * [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)) 26.641 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in phi1 26.641 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 26.641 * [taylor]: Taking taylor expansion of 2 in phi1 26.641 * [backup-simplify]: Simplify 2 into 2 26.641 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 26.641 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 26.641 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 26.641 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 26.641 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.641 * [backup-simplify]: Simplify -0.5 into -0.5 26.641 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 26.641 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 26.641 * [taylor]: Taking taylor expansion of phi1 in phi1 26.641 * [backup-simplify]: Simplify 0 into 0 26.641 * [backup-simplify]: Simplify 1 into 1 26.642 * [backup-simplify]: Simplify (/ 1 1) into 1 26.642 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 26.642 * [taylor]: Taking taylor expansion of phi2 in phi1 26.642 * [backup-simplify]: Simplify phi2 into phi2 26.642 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.642 * [backup-simplify]: Simplify (+ 1 0) into 1 26.643 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 26.643 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.643 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 26.643 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.643 * [backup-simplify]: Simplify lambda2 into lambda2 26.643 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.643 * [backup-simplify]: Simplify lambda1 into lambda1 26.643 * [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) 26.643 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 26.644 * [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)) 26.644 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in phi1 26.644 * [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 26.644 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 26.644 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.644 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.644 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.644 * [backup-simplify]: Simplify -0.5 into -0.5 26.644 * [taylor]: Taking taylor expansion of phi1 in phi1 26.644 * [backup-simplify]: Simplify 0 into 0 26.644 * [backup-simplify]: Simplify 1 into 1 26.645 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.645 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.645 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 26.645 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.645 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.645 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.645 * [backup-simplify]: Simplify -0.5 into -0.5 26.645 * [taylor]: Taking taylor expansion of phi2 in phi1 26.645 * [backup-simplify]: Simplify phi2 into phi2 26.645 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.645 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.645 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.645 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 26.645 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.645 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.645 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.645 * [backup-simplify]: Simplify -0.5 into -0.5 26.645 * [taylor]: Taking taylor expansion of phi2 in phi1 26.645 * [backup-simplify]: Simplify phi2 into phi2 26.645 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.645 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.646 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.646 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.646 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.646 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.646 * [backup-simplify]: Simplify -0.5 into -0.5 26.646 * [taylor]: Taking taylor expansion of phi1 in phi1 26.646 * [backup-simplify]: Simplify 0 into 0 26.646 * [backup-simplify]: Simplify 1 into 1 26.646 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.646 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.646 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.646 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.646 * [backup-simplify]: Simplify lambda2 into lambda2 26.647 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.647 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.647 * [backup-simplify]: Simplify (- 0) into 0 26.647 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.647 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.647 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.648 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.648 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.648 * [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)))) 26.648 * [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))))) 26.649 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.649 * [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)) 26.649 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in phi1 26.649 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi1 26.649 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 26.649 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.649 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.649 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.649 * [backup-simplify]: Simplify -0.5 into -0.5 26.649 * [taylor]: Taking taylor expansion of phi1 in phi1 26.649 * [backup-simplify]: Simplify 0 into 0 26.649 * [backup-simplify]: Simplify 1 into 1 26.650 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.650 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.650 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 26.650 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.650 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.650 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.650 * [backup-simplify]: Simplify -0.5 into -0.5 26.650 * [taylor]: Taking taylor expansion of phi2 in phi1 26.650 * [backup-simplify]: Simplify phi2 into phi2 26.650 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.650 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.651 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.651 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 26.651 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.651 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.651 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.651 * [backup-simplify]: Simplify -0.5 into -0.5 26.651 * [taylor]: Taking taylor expansion of phi2 in phi1 26.651 * [backup-simplify]: Simplify phi2 into phi2 26.651 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.651 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.651 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.651 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.651 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.651 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.651 * [backup-simplify]: Simplify -0.5 into -0.5 26.651 * [taylor]: Taking taylor expansion of phi1 in phi1 26.651 * [backup-simplify]: Simplify 0 into 0 26.651 * [backup-simplify]: Simplify 1 into 1 26.652 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.652 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.652 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.652 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.652 * [backup-simplify]: Simplify lambda1 into lambda1 26.652 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.652 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.652 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.652 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.653 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.653 * [backup-simplify]: Simplify (- 0) into 0 26.653 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.653 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.653 * [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)))) 26.654 * [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))))) 26.654 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.654 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) 26.654 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in phi1 26.654 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 26.655 * [taylor]: Taking taylor expansion of 2 in phi1 26.655 * [backup-simplify]: Simplify 2 into 2 26.655 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 26.655 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 26.655 * [taylor]: Taking taylor expansion of phi2 in phi1 26.655 * [backup-simplify]: Simplify phi2 into phi2 26.655 * [taylor]: Taking taylor expansion of phi1 in phi1 26.655 * [backup-simplify]: Simplify 0 into 0 26.655 * [backup-simplify]: Simplify 1 into 1 26.655 * [backup-simplify]: Simplify (* phi2 0) into 0 26.655 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 26.655 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.655 * [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 lambda1 2))) in phi1 26.655 * [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 26.655 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 26.655 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.655 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.656 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.656 * [backup-simplify]: Simplify -0.5 into -0.5 26.656 * [taylor]: Taking taylor expansion of phi1 in phi1 26.656 * [backup-simplify]: Simplify 0 into 0 26.656 * [backup-simplify]: Simplify 1 into 1 26.656 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.656 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.656 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 26.656 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.656 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.656 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.656 * [backup-simplify]: Simplify -0.5 into -0.5 26.656 * [taylor]: Taking taylor expansion of phi2 in phi1 26.656 * [backup-simplify]: Simplify phi2 into phi2 26.657 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.657 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.657 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.657 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 26.657 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.657 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.657 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.657 * [backup-simplify]: Simplify -0.5 into -0.5 26.657 * [taylor]: Taking taylor expansion of phi2 in phi1 26.657 * [backup-simplify]: Simplify phi2 into phi2 26.657 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.657 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.657 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.657 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.657 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.657 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.657 * [backup-simplify]: Simplify -0.5 into -0.5 26.657 * [taylor]: Taking taylor expansion of phi1 in phi1 26.657 * [backup-simplify]: Simplify 0 into 0 26.657 * [backup-simplify]: Simplify 1 into 1 26.658 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.658 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.658 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.658 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.658 * [backup-simplify]: Simplify lambda2 into lambda2 26.658 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.658 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.658 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.659 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.659 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.659 * [backup-simplify]: Simplify (- 0) into 0 26.659 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.659 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.660 * [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)))) 26.660 * [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))))) 26.660 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.661 * [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)) 26.661 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi1 26.661 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 26.661 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.661 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.661 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.661 * [backup-simplify]: Simplify -0.5 into -0.5 26.661 * [taylor]: Taking taylor expansion of phi1 in phi1 26.661 * [backup-simplify]: Simplify 0 into 0 26.661 * [backup-simplify]: Simplify 1 into 1 26.661 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.661 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.661 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 26.661 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.662 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.662 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.662 * [backup-simplify]: Simplify -0.5 into -0.5 26.662 * [taylor]: Taking taylor expansion of phi2 in phi1 26.662 * [backup-simplify]: Simplify phi2 into phi2 26.662 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.662 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.662 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.662 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 26.662 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.662 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.662 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.662 * [backup-simplify]: Simplify -0.5 into -0.5 26.662 * [taylor]: Taking taylor expansion of phi2 in phi1 26.662 * [backup-simplify]: Simplify phi2 into phi2 26.662 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.662 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.662 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.662 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.662 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.662 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.662 * [backup-simplify]: Simplify -0.5 into -0.5 26.663 * [taylor]: Taking taylor expansion of phi1 in phi1 26.663 * [backup-simplify]: Simplify 0 into 0 26.663 * [backup-simplify]: Simplify 1 into 1 26.663 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.663 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.663 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.663 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.663 * [backup-simplify]: Simplify lambda1 into lambda1 26.663 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.663 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.664 * [backup-simplify]: Simplify (- 0) into 0 26.664 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.664 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.664 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.664 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.665 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.665 * [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)))) 26.665 * [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))))) 26.665 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.666 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 26.666 * [backup-simplify]: Simplify (+ 1 0) into 1 26.667 * [backup-simplify]: Simplify (+ 0 1) into 1 26.667 * [backup-simplify]: Simplify (+ 1 0) into 1 26.667 * [backup-simplify]: Simplify (sqrt 1) into 1 26.668 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.669 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 26.669 * [backup-simplify]: Simplify (+ 0 0) into 0 26.670 * [backup-simplify]: Simplify (+ 0 0) into 0 26.670 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 26.670 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 26.670 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 26.670 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 26.670 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 26.670 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 26.670 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 26.671 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 26.671 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in phi2 26.671 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in phi2 26.671 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in phi2 26.671 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 26.671 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 26.671 * [taylor]: Taking taylor expansion of phi2 in phi2 26.672 * [backup-simplify]: Simplify 0 into 0 26.672 * [backup-simplify]: Simplify 1 into 1 26.672 * [backup-simplify]: Simplify (* 1 1) into 1 26.672 * [backup-simplify]: Simplify (/ 1 1) into 1 26.672 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi2 26.672 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 26.672 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 26.672 * [taylor]: Taking taylor expansion of phi1 in phi2 26.672 * [backup-simplify]: Simplify phi1 into phi1 26.673 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 26.673 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 26.673 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi2 26.673 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 26.673 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 26.673 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 26.673 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 26.673 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.673 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.673 * [backup-simplify]: Simplify -0.5 into -0.5 26.673 * [taylor]: Taking taylor expansion of phi2 in phi2 26.673 * [backup-simplify]: Simplify 0 into 0 26.673 * [backup-simplify]: Simplify 1 into 1 26.673 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.674 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.674 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 26.674 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 26.674 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.674 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.674 * [backup-simplify]: Simplify -0.5 into -0.5 26.674 * [taylor]: Taking taylor expansion of phi1 in phi2 26.674 * [backup-simplify]: Simplify phi1 into phi1 26.674 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.674 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.674 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.674 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.674 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.674 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.674 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.674 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.675 * [backup-simplify]: Simplify lambda1 into lambda1 26.675 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.675 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.675 * [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)) 26.675 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.676 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 26.676 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2 26.676 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 26.676 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 26.676 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 26.676 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 26.676 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.676 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.676 * [backup-simplify]: Simplify -0.5 into -0.5 26.676 * [taylor]: Taking taylor expansion of phi2 in phi2 26.676 * [backup-simplify]: Simplify 0 into 0 26.676 * [backup-simplify]: Simplify 1 into 1 26.677 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.677 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.677 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 26.677 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 26.677 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.677 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.677 * [backup-simplify]: Simplify -0.5 into -0.5 26.677 * [taylor]: Taking taylor expansion of phi1 in phi2 26.677 * [backup-simplify]: Simplify phi1 into phi1 26.677 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.677 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.677 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.677 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.677 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.678 * [backup-simplify]: Simplify (- 0) into 0 26.678 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.678 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.678 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.678 * [backup-simplify]: Simplify lambda2 into lambda2 26.678 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.678 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.679 * [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)) 26.679 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.679 * [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)) 26.679 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2 26.679 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 26.679 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 26.679 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 26.680 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 26.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.680 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.680 * [backup-simplify]: Simplify -0.5 into -0.5 26.680 * [taylor]: Taking taylor expansion of phi2 in phi2 26.680 * [backup-simplify]: Simplify 0 into 0 26.680 * [backup-simplify]: Simplify 1 into 1 26.680 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.680 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.680 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 26.680 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 26.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.680 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.680 * [backup-simplify]: Simplify -0.5 into -0.5 26.680 * [taylor]: Taking taylor expansion of phi1 in phi2 26.680 * [backup-simplify]: Simplify phi1 into phi1 26.681 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.681 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.681 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.681 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.681 * [backup-simplify]: Simplify (- 0) into 0 26.681 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.681 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.681 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.682 * [backup-simplify]: Simplify lambda1 into lambda1 26.682 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.682 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.682 * [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)) 26.682 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.683 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 26.683 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 26.683 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 26.683 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 26.683 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 26.683 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.683 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.683 * [backup-simplify]: Simplify -0.5 into -0.5 26.683 * [taylor]: Taking taylor expansion of phi2 in phi2 26.683 * [backup-simplify]: Simplify 0 into 0 26.683 * [backup-simplify]: Simplify 1 into 1 26.684 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.684 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.684 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 26.684 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 26.684 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.684 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.684 * [backup-simplify]: Simplify -0.5 into -0.5 26.684 * [taylor]: Taking taylor expansion of phi1 in phi2 26.684 * [backup-simplify]: Simplify phi1 into phi1 26.684 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.684 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.684 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.684 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.684 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.684 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.685 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.685 * [backup-simplify]: Simplify lambda2 into lambda2 26.685 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.685 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.685 * [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)) 26.685 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.686 * [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)) 26.686 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in phi2 26.686 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 26.686 * [taylor]: Taking taylor expansion of 2 in phi2 26.686 * [backup-simplify]: Simplify 2 into 2 26.686 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 26.686 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 26.686 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 26.686 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 26.686 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.686 * [backup-simplify]: Simplify -0.5 into -0.5 26.686 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 26.686 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 26.686 * [taylor]: Taking taylor expansion of phi1 in phi2 26.686 * [backup-simplify]: Simplify phi1 into phi1 26.686 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.686 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 26.686 * [taylor]: Taking taylor expansion of phi2 in phi2 26.686 * [backup-simplify]: Simplify 0 into 0 26.687 * [backup-simplify]: Simplify 1 into 1 26.687 * [backup-simplify]: Simplify (/ 1 1) into 1 26.688 * [backup-simplify]: Simplify (+ 0 1) into 1 26.688 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 26.688 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.688 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 26.688 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.688 * [backup-simplify]: Simplify lambda2 into lambda2 26.688 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.688 * [backup-simplify]: Simplify lambda1 into lambda1 26.689 * [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) 26.689 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 26.689 * [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)) 26.689 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in phi2 26.689 * [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 26.689 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 26.689 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 26.689 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.689 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.690 * [backup-simplify]: Simplify -0.5 into -0.5 26.690 * [taylor]: Taking taylor expansion of phi1 in phi2 26.690 * [backup-simplify]: Simplify phi1 into phi1 26.690 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.690 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.690 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.690 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 26.690 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 26.690 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.690 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.690 * [backup-simplify]: Simplify -0.5 into -0.5 26.690 * [taylor]: Taking taylor expansion of phi2 in phi2 26.690 * [backup-simplify]: Simplify 0 into 0 26.690 * [backup-simplify]: Simplify 1 into 1 26.691 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.691 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.691 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 26.691 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 26.691 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.691 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.691 * [backup-simplify]: Simplify -0.5 into -0.5 26.691 * [taylor]: Taking taylor expansion of phi2 in phi2 26.691 * [backup-simplify]: Simplify 0 into 0 26.691 * [backup-simplify]: Simplify 1 into 1 26.691 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.691 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.691 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 26.692 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.692 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.692 * [backup-simplify]: Simplify -0.5 into -0.5 26.692 * [taylor]: Taking taylor expansion of phi1 in phi2 26.692 * [backup-simplify]: Simplify phi1 into phi1 26.692 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.692 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.692 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.692 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.692 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.692 * [backup-simplify]: Simplify lambda2 into lambda2 26.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.692 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.693 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.693 * [backup-simplify]: Simplify (- 0) into 0 26.693 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.693 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.693 * [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)))) 26.694 * [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))))) 26.694 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.694 * [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)) 26.695 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in phi2 26.695 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi2 26.695 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 26.695 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 26.695 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.695 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.695 * [backup-simplify]: Simplify -0.5 into -0.5 26.695 * [taylor]: Taking taylor expansion of phi1 in phi2 26.695 * [backup-simplify]: Simplify phi1 into phi1 26.695 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.695 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.695 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.695 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 26.695 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 26.695 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.695 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.695 * [backup-simplify]: Simplify -0.5 into -0.5 26.695 * [taylor]: Taking taylor expansion of phi2 in phi2 26.695 * [backup-simplify]: Simplify 0 into 0 26.695 * [backup-simplify]: Simplify 1 into 1 26.696 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.696 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.696 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 26.696 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 26.696 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.696 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.696 * [backup-simplify]: Simplify -0.5 into -0.5 26.696 * [taylor]: Taking taylor expansion of phi2 in phi2 26.696 * [backup-simplify]: Simplify 0 into 0 26.696 * [backup-simplify]: Simplify 1 into 1 26.697 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.697 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.697 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 26.697 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.697 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.697 * [backup-simplify]: Simplify -0.5 into -0.5 26.697 * [taylor]: Taking taylor expansion of phi1 in phi2 26.697 * [backup-simplify]: Simplify phi1 into phi1 26.697 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.697 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.698 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.698 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.698 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.698 * [backup-simplify]: Simplify lambda1 into lambda1 26.698 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.698 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.698 * [backup-simplify]: Simplify (- 0) into 0 26.698 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.698 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.699 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.699 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.699 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.699 * [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)))) 26.700 * [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))))) 26.700 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.700 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) 26.700 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in phi2 26.700 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 26.701 * [taylor]: Taking taylor expansion of 2 in phi2 26.701 * [backup-simplify]: Simplify 2 into 2 26.701 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 26.701 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 26.701 * [taylor]: Taking taylor expansion of phi2 in phi2 26.701 * [backup-simplify]: Simplify 0 into 0 26.701 * [backup-simplify]: Simplify 1 into 1 26.701 * [taylor]: Taking taylor expansion of phi1 in phi2 26.701 * [backup-simplify]: Simplify phi1 into phi1 26.701 * [backup-simplify]: Simplify (* 0 phi1) into 0 26.701 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 26.701 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.701 * [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 lambda1 2))) in phi2 26.701 * [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 26.701 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 26.702 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 26.702 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.702 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.702 * [backup-simplify]: Simplify -0.5 into -0.5 26.702 * [taylor]: Taking taylor expansion of phi1 in phi2 26.702 * [backup-simplify]: Simplify phi1 into phi1 26.702 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.702 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.702 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.702 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 26.702 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 26.702 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.702 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.702 * [backup-simplify]: Simplify -0.5 into -0.5 26.702 * [taylor]: Taking taylor expansion of phi2 in phi2 26.702 * [backup-simplify]: Simplify 0 into 0 26.702 * [backup-simplify]: Simplify 1 into 1 26.703 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.703 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.703 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 26.703 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 26.703 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.703 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.703 * [backup-simplify]: Simplify -0.5 into -0.5 26.703 * [taylor]: Taking taylor expansion of phi2 in phi2 26.703 * [backup-simplify]: Simplify 0 into 0 26.703 * [backup-simplify]: Simplify 1 into 1 26.703 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.704 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.704 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 26.704 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.704 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.704 * [backup-simplify]: Simplify -0.5 into -0.5 26.704 * [taylor]: Taking taylor expansion of phi1 in phi2 26.704 * [backup-simplify]: Simplify phi1 into phi1 26.704 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.704 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.704 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.704 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.704 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.704 * [backup-simplify]: Simplify lambda2 into lambda2 26.704 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.704 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.705 * [backup-simplify]: Simplify (- 0) into 0 26.705 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.705 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.705 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.705 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.705 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.706 * [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)))) 26.706 * [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))))) 26.706 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.707 * [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)) 26.707 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi2 26.707 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 26.707 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 26.707 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.707 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.707 * [backup-simplify]: Simplify -0.5 into -0.5 26.707 * [taylor]: Taking taylor expansion of phi1 in phi2 26.707 * [backup-simplify]: Simplify phi1 into phi1 26.707 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.707 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.707 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.707 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 26.707 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 26.707 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.707 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.707 * [backup-simplify]: Simplify -0.5 into -0.5 26.707 * [taylor]: Taking taylor expansion of phi2 in phi2 26.707 * [backup-simplify]: Simplify 0 into 0 26.708 * [backup-simplify]: Simplify 1 into 1 26.708 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.708 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.708 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 26.708 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 26.708 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.708 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.708 * [backup-simplify]: Simplify -0.5 into -0.5 26.708 * [taylor]: Taking taylor expansion of phi2 in phi2 26.708 * [backup-simplify]: Simplify 0 into 0 26.708 * [backup-simplify]: Simplify 1 into 1 26.709 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.709 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.709 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 26.709 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.709 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.709 * [backup-simplify]: Simplify -0.5 into -0.5 26.709 * [taylor]: Taking taylor expansion of phi1 in phi2 26.709 * [backup-simplify]: Simplify phi1 into phi1 26.709 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.709 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.709 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.709 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.709 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.710 * [backup-simplify]: Simplify lambda1 into lambda1 26.710 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.710 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.710 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.710 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.710 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.711 * [backup-simplify]: Simplify (- 0) into 0 26.711 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.711 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.711 * [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)))) 26.711 * [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))))) 26.712 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.712 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 26.713 * [backup-simplify]: Simplify (+ 1 0) into 1 26.713 * [backup-simplify]: Simplify (+ 1 0) into 1 26.713 * [backup-simplify]: Simplify (sqrt 1) into 1 26.714 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.715 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 26.715 * [backup-simplify]: Simplify (+ 0 0) into 0 26.715 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 26.715 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 26.715 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 26.716 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 26.716 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 26.716 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 26.716 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 26.717 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 26.717 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))))) in phi2 26.717 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))))) in phi2 26.717 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in phi2 26.717 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 26.717 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 26.717 * [taylor]: Taking taylor expansion of phi2 in phi2 26.717 * [backup-simplify]: Simplify 0 into 0 26.717 * [backup-simplify]: Simplify 1 into 1 26.717 * [backup-simplify]: Simplify (* 1 1) into 1 26.718 * [backup-simplify]: Simplify (/ 1 1) into 1 26.718 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi2 26.718 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 26.718 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 26.718 * [taylor]: Taking taylor expansion of phi1 in phi2 26.718 * [backup-simplify]: Simplify phi1 into phi1 26.718 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 26.718 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 26.718 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi2 26.718 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 26.718 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 26.718 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 26.718 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 26.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.719 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.719 * [backup-simplify]: Simplify -0.5 into -0.5 26.719 * [taylor]: Taking taylor expansion of phi2 in phi2 26.719 * [backup-simplify]: Simplify 0 into 0 26.719 * [backup-simplify]: Simplify 1 into 1 26.719 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.719 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 26.719 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 26.719 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.719 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.719 * [backup-simplify]: Simplify -0.5 into -0.5 26.719 * [taylor]: Taking taylor expansion of phi1 in phi2 26.719 * [backup-simplify]: Simplify phi1 into phi1 26.720 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.720 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.720 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.720 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.720 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.720 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.720 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.720 * [backup-simplify]: Simplify lambda1 into lambda1 26.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.721 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.721 * [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)) 26.721 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.721 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 26.721 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2 26.722 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 26.722 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 26.722 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 26.722 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 26.722 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.722 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.722 * [backup-simplify]: Simplify -0.5 into -0.5 26.722 * [taylor]: Taking taylor expansion of phi2 in phi2 26.722 * [backup-simplify]: Simplify 0 into 0 26.722 * [backup-simplify]: Simplify 1 into 1 26.722 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.722 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.722 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 26.722 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 26.723 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.723 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.723 * [backup-simplify]: Simplify -0.5 into -0.5 26.723 * [taylor]: Taking taylor expansion of phi1 in phi2 26.723 * [backup-simplify]: Simplify phi1 into phi1 26.723 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.723 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.723 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.724 * [backup-simplify]: Simplify (- 0) into 0 26.724 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.724 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.724 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.724 * [backup-simplify]: Simplify lambda2 into lambda2 26.724 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.724 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.725 * [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)) 26.725 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.725 * [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)) 26.725 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2 26.725 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2 26.725 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 26.725 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 26.725 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 26.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.725 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.725 * [backup-simplify]: Simplify -0.5 into -0.5 26.726 * [taylor]: Taking taylor expansion of phi2 in phi2 26.726 * [backup-simplify]: Simplify 0 into 0 26.726 * [backup-simplify]: Simplify 1 into 1 26.726 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.726 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.726 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 26.726 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 26.726 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.726 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.726 * [backup-simplify]: Simplify -0.5 into -0.5 26.726 * [taylor]: Taking taylor expansion of phi1 in phi2 26.726 * [backup-simplify]: Simplify phi1 into phi1 26.726 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.727 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.727 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.727 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.727 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.727 * [backup-simplify]: Simplify (- 0) into 0 26.727 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.727 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.727 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.728 * [backup-simplify]: Simplify lambda1 into lambda1 26.728 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.728 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.728 * [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)) 26.728 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.729 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 26.729 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 26.729 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 26.729 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 26.729 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 26.729 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.729 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.729 * [backup-simplify]: Simplify -0.5 into -0.5 26.729 * [taylor]: Taking taylor expansion of phi2 in phi2 26.729 * [backup-simplify]: Simplify 0 into 0 26.729 * [backup-simplify]: Simplify 1 into 1 26.730 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.730 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.730 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 26.730 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 26.730 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.730 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.730 * [backup-simplify]: Simplify -0.5 into -0.5 26.730 * [taylor]: Taking taylor expansion of phi1 in phi2 26.730 * [backup-simplify]: Simplify phi1 into phi1 26.730 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.730 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.730 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.730 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.730 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.731 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.731 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.731 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.731 * [backup-simplify]: Simplify lambda2 into lambda2 26.731 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.731 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.731 * [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)) 26.731 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.732 * [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)) 26.732 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))))) in phi2 26.732 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 26.732 * [taylor]: Taking taylor expansion of 2 in phi2 26.732 * [backup-simplify]: Simplify 2 into 2 26.732 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 26.732 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 26.732 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 26.732 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 26.732 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.732 * [backup-simplify]: Simplify -0.5 into -0.5 26.732 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 26.732 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 26.732 * [taylor]: Taking taylor expansion of phi1 in phi2 26.732 * [backup-simplify]: Simplify phi1 into phi1 26.732 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.732 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 26.732 * [taylor]: Taking taylor expansion of phi2 in phi2 26.732 * [backup-simplify]: Simplify 0 into 0 26.733 * [backup-simplify]: Simplify 1 into 1 26.733 * [backup-simplify]: Simplify (/ 1 1) into 1 26.733 * [backup-simplify]: Simplify (+ 0 1) into 1 26.734 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 26.734 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.734 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 26.734 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.734 * [backup-simplify]: Simplify lambda2 into lambda2 26.734 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.734 * [backup-simplify]: Simplify lambda1 into lambda1 26.735 * [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) 26.735 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 26.735 * [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)) 26.735 * [taylor]: Taking taylor expansion of (+ (/ (* (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 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))))) in phi2 26.735 * [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 26.735 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 26.735 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 26.735 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.735 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.735 * [backup-simplify]: Simplify -0.5 into -0.5 26.735 * [taylor]: Taking taylor expansion of phi1 in phi2 26.735 * [backup-simplify]: Simplify phi1 into phi1 26.735 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.736 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.736 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.736 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 26.736 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 26.736 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.736 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.736 * [backup-simplify]: Simplify -0.5 into -0.5 26.736 * [taylor]: Taking taylor expansion of phi2 in phi2 26.736 * [backup-simplify]: Simplify 0 into 0 26.736 * [backup-simplify]: Simplify 1 into 1 26.736 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.736 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.737 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 26.737 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 26.737 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.737 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.737 * [backup-simplify]: Simplify -0.5 into -0.5 26.737 * [taylor]: Taking taylor expansion of phi2 in phi2 26.737 * [backup-simplify]: Simplify 0 into 0 26.737 * [backup-simplify]: Simplify 1 into 1 26.737 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.737 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.737 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 26.737 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.737 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.737 * [backup-simplify]: Simplify -0.5 into -0.5 26.738 * [taylor]: Taking taylor expansion of phi1 in phi2 26.738 * [backup-simplify]: Simplify phi1 into phi1 26.738 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.738 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.738 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.738 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.738 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.738 * [backup-simplify]: Simplify lambda2 into lambda2 26.738 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.738 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.739 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.739 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.739 * [backup-simplify]: Simplify (- 0) into 0 26.739 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.739 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.740 * [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)))) 26.740 * [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))))) 26.740 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.741 * [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)) 26.741 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2))))) in phi2 26.741 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi2 26.741 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 26.741 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 26.741 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.741 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.741 * [backup-simplify]: Simplify -0.5 into -0.5 26.741 * [taylor]: Taking taylor expansion of phi1 in phi2 26.741 * [backup-simplify]: Simplify phi1 into phi1 26.741 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.741 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.741 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 26.741 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 26.741 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.741 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.741 * [backup-simplify]: Simplify -0.5 into -0.5 26.742 * [taylor]: Taking taylor expansion of phi2 in phi2 26.742 * [backup-simplify]: Simplify 0 into 0 26.742 * [backup-simplify]: Simplify 1 into 1 26.742 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.742 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 26.742 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 26.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.742 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.742 * [backup-simplify]: Simplify -0.5 into -0.5 26.742 * [taylor]: Taking taylor expansion of phi2 in phi2 26.742 * [backup-simplify]: Simplify 0 into 0 26.742 * [backup-simplify]: Simplify 1 into 1 26.743 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.743 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.743 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 26.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.743 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.743 * [backup-simplify]: Simplify -0.5 into -0.5 26.743 * [taylor]: Taking taylor expansion of phi1 in phi2 26.743 * [backup-simplify]: Simplify phi1 into phi1 26.743 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.743 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.743 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.743 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.743 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.743 * [backup-simplify]: Simplify lambda1 into lambda1 26.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.744 * [backup-simplify]: Simplify (- 0) into 0 26.744 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.745 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.745 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.745 * [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)))) 26.745 * [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))))) 26.745 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.746 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) 26.746 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (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 lambda1 2)))) in phi2 26.746 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 26.746 * [taylor]: Taking taylor expansion of 2 in phi2 26.746 * [backup-simplify]: Simplify 2 into 2 26.746 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 26.746 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 26.746 * [taylor]: Taking taylor expansion of phi2 in phi2 26.746 * [backup-simplify]: Simplify 0 into 0 26.746 * [backup-simplify]: Simplify 1 into 1 26.746 * [taylor]: Taking taylor expansion of phi1 in phi2 26.746 * [backup-simplify]: Simplify phi1 into phi1 26.746 * [backup-simplify]: Simplify (* 0 phi1) into 0 26.747 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 26.747 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.747 * [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 lambda1 2))) in phi2 26.747 * [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 26.747 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 26.747 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 26.747 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.747 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.747 * [backup-simplify]: Simplify -0.5 into -0.5 26.747 * [taylor]: Taking taylor expansion of phi1 in phi2 26.747 * [backup-simplify]: Simplify phi1 into phi1 26.747 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.747 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.747 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.747 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 26.747 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 26.747 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.747 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.748 * [backup-simplify]: Simplify -0.5 into -0.5 26.748 * [taylor]: Taking taylor expansion of phi2 in phi2 26.748 * [backup-simplify]: Simplify 0 into 0 26.748 * [backup-simplify]: Simplify 1 into 1 26.748 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.748 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.748 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 26.748 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 26.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.748 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.748 * [backup-simplify]: Simplify -0.5 into -0.5 26.748 * [taylor]: Taking taylor expansion of phi2 in phi2 26.748 * [backup-simplify]: Simplify 0 into 0 26.748 * [backup-simplify]: Simplify 1 into 1 26.748 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.748 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 26.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.749 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.749 * [backup-simplify]: Simplify -0.5 into -0.5 26.749 * [taylor]: Taking taylor expansion of phi1 in phi2 26.749 * [backup-simplify]: Simplify phi1 into phi1 26.749 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.749 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 26.749 * [taylor]: Taking taylor expansion of lambda2 in phi2 26.749 * [backup-simplify]: Simplify lambda2 into lambda2 26.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.749 * [backup-simplify]: Simplify (- 0) into 0 26.749 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.749 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.750 * [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)))) 26.750 * [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))))) 26.750 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.750 * [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)) 26.750 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi2 26.750 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 26.750 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 26.750 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.750 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.750 * [backup-simplify]: Simplify -0.5 into -0.5 26.750 * [taylor]: Taking taylor expansion of phi1 in phi2 26.750 * [backup-simplify]: Simplify phi1 into phi1 26.750 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.750 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.750 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.750 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 26.751 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 26.751 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.751 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.751 * [backup-simplify]: Simplify -0.5 into -0.5 26.751 * [taylor]: Taking taylor expansion of phi2 in phi2 26.751 * [backup-simplify]: Simplify 0 into 0 26.751 * [backup-simplify]: Simplify 1 into 1 26.751 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.751 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.751 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 26.751 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 26.751 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 26.751 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.751 * [backup-simplify]: Simplify -0.5 into -0.5 26.751 * [taylor]: Taking taylor expansion of phi2 in phi2 26.751 * [backup-simplify]: Simplify 0 into 0 26.751 * [backup-simplify]: Simplify 1 into 1 26.751 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.752 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.752 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 26.752 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 26.752 * [taylor]: Taking taylor expansion of -0.5 in phi2 26.752 * [backup-simplify]: Simplify -0.5 into -0.5 26.752 * [taylor]: Taking taylor expansion of phi1 in phi2 26.752 * [backup-simplify]: Simplify phi1 into phi1 26.752 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.752 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.752 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.752 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 26.752 * [taylor]: Taking taylor expansion of lambda1 in phi2 26.752 * [backup-simplify]: Simplify lambda1 into lambda1 26.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.752 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.753 * [backup-simplify]: Simplify (- 0) into 0 26.753 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.753 * [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)))) 26.753 * [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))))) 26.753 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.754 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 26.754 * [backup-simplify]: Simplify (+ 1 0) into 1 26.754 * [backup-simplify]: Simplify (+ 1 0) into 1 26.754 * [backup-simplify]: Simplify (sqrt 1) into 1 26.755 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.755 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 26.755 * [backup-simplify]: Simplify (+ 0 0) into 0 26.756 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 26.756 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 26.756 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 26.756 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 26.756 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 26.756 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 26.756 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 26.756 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 26.756 * [taylor]: Taking taylor expansion of 1 in phi1 26.756 * [backup-simplify]: Simplify 1 into 1 26.756 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 26.756 * [taylor]: Taking taylor expansion of -1 in phi1 26.756 * [backup-simplify]: Simplify -1 into -1 26.757 * [taylor]: Taking taylor expansion of phi1 in phi1 26.757 * [backup-simplify]: Simplify 0 into 0 26.757 * [backup-simplify]: Simplify 1 into 1 26.757 * [backup-simplify]: Simplify (/ -1 1) into -1 26.757 * [taylor]: Taking taylor expansion of -1 in lambda1 26.757 * [backup-simplify]: Simplify -1 into -1 26.757 * [taylor]: Taking taylor expansion of 1 in lambda1 26.757 * [backup-simplify]: Simplify 1 into 1 26.762 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 26.763 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 26.764 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) 26.765 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 26.766 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) 26.768 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) 26.770 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) 26.770 * [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))) 26.771 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 26.771 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 26.771 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 26.772 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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 lambda1 2))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) 26.773 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) 26.774 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))) 26.775 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (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)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2))))) 26.777 * [backup-simplify]: Simplify (+ (* 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)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)))))) into (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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)))))) 26.779 * [backup-simplify]: Simplify (- (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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))))))) into (- (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2))))))) 26.783 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))))))) 26.789 * [backup-simplify]: Simplify (/ (- (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))))))) (pow (/ -1 phi1) 2) (+)) (* 2 1)) into (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) 26.789 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) in phi1 26.789 * [taylor]: Taking taylor expansion of 1/2 in phi1 26.789 * [backup-simplify]: Simplify 1/2 into 1/2 26.789 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in phi1 26.789 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi1 26.789 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 26.789 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 26.789 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 26.789 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.790 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.790 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.790 * [backup-simplify]: Simplify -0.5 into -0.5 26.790 * [taylor]: Taking taylor expansion of phi2 in phi1 26.790 * [backup-simplify]: Simplify phi2 into phi2 26.790 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.790 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.790 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.790 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.790 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.790 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.790 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 26.790 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.790 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.790 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.790 * [backup-simplify]: Simplify -0.5 into -0.5 26.790 * [taylor]: Taking taylor expansion of phi1 in phi1 26.790 * [backup-simplify]: Simplify 0 into 0 26.790 * [backup-simplify]: Simplify 1 into 1 26.790 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.791 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.791 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.791 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.791 * [backup-simplify]: Simplify lambda1 into lambda1 26.791 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.791 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.791 * [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)) 26.791 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.791 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 26.791 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 26.791 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 26.791 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 26.791 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 26.791 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.791 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.792 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.792 * [backup-simplify]: Simplify -0.5 into -0.5 26.792 * [taylor]: Taking taylor expansion of phi2 in phi1 26.792 * [backup-simplify]: Simplify phi2 into phi2 26.792 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.792 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.792 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.792 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.792 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.792 * [backup-simplify]: Simplify (- 0) into 0 26.792 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.792 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 26.792 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.792 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.792 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.792 * [backup-simplify]: Simplify -0.5 into -0.5 26.792 * [taylor]: Taking taylor expansion of phi1 in phi1 26.792 * [backup-simplify]: Simplify 0 into 0 26.792 * [backup-simplify]: Simplify 1 into 1 26.793 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.793 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.793 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.793 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.793 * [backup-simplify]: Simplify lambda2 into lambda2 26.793 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.793 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.793 * [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)) 26.793 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.794 * [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)) 26.794 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 26.794 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1 26.794 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 26.794 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 26.794 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.794 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.794 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.794 * [backup-simplify]: Simplify -0.5 into -0.5 26.794 * [taylor]: Taking taylor expansion of phi2 in phi1 26.794 * [backup-simplify]: Simplify phi2 into phi2 26.794 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.794 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.794 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.794 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.794 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.794 * [backup-simplify]: Simplify (- 0) into 0 26.794 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.794 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 26.794 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.794 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.794 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.794 * [backup-simplify]: Simplify -0.5 into -0.5 26.794 * [taylor]: Taking taylor expansion of phi1 in phi1 26.795 * [backup-simplify]: Simplify 0 into 0 26.795 * [backup-simplify]: Simplify 1 into 1 26.795 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.795 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.795 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.795 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.795 * [backup-simplify]: Simplify lambda1 into lambda1 26.795 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.795 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.795 * [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)) 26.795 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.796 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 26.796 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 26.796 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 26.796 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 26.796 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.796 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.796 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.796 * [backup-simplify]: Simplify -0.5 into -0.5 26.796 * [taylor]: Taking taylor expansion of phi2 in phi1 26.796 * [backup-simplify]: Simplify phi2 into phi2 26.796 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.796 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.796 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.796 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.796 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.796 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.796 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 26.796 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.796 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.796 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.796 * [backup-simplify]: Simplify -0.5 into -0.5 26.796 * [taylor]: Taking taylor expansion of phi1 in phi1 26.796 * [backup-simplify]: Simplify 0 into 0 26.796 * [backup-simplify]: Simplify 1 into 1 26.797 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.797 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.797 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.797 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.797 * [backup-simplify]: Simplify lambda2 into lambda2 26.797 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.797 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.797 * [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)) 26.797 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.797 * [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)) 26.798 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi1 26.798 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in phi1 26.798 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 26.798 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.798 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.798 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.798 * [backup-simplify]: Simplify -0.5 into -0.5 26.798 * [taylor]: Taking taylor expansion of phi2 in phi1 26.798 * [backup-simplify]: Simplify phi2 into phi2 26.798 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.798 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.798 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.798 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 26.798 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.798 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.798 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.798 * [backup-simplify]: Simplify -0.5 into -0.5 26.798 * [taylor]: Taking taylor expansion of phi1 in phi1 26.798 * [backup-simplify]: Simplify 0 into 0 26.798 * [backup-simplify]: Simplify 1 into 1 26.798 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.798 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.798 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 26.798 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.798 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.798 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.799 * [backup-simplify]: Simplify -0.5 into -0.5 26.799 * [taylor]: Taking taylor expansion of phi1 in phi1 26.799 * [backup-simplify]: Simplify 0 into 0 26.799 * [backup-simplify]: Simplify 1 into 1 26.799 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.799 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.799 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.799 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.799 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.799 * [backup-simplify]: Simplify -0.5 into -0.5 26.799 * [taylor]: Taking taylor expansion of phi2 in phi1 26.799 * [backup-simplify]: Simplify phi2 into phi2 26.799 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.799 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.799 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.799 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.799 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.799 * [backup-simplify]: Simplify lambda1 into lambda1 26.799 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.799 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.800 * [backup-simplify]: Simplify (- 0) into 0 26.800 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.800 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.800 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.800 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.800 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 26.800 * [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)))) 26.800 * [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))))) 26.800 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.801 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) 26.801 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1 26.801 * [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 26.801 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 26.801 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.801 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.801 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.801 * [backup-simplify]: Simplify -0.5 into -0.5 26.801 * [taylor]: Taking taylor expansion of phi2 in phi1 26.801 * [backup-simplify]: Simplify phi2 into phi2 26.801 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.801 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.801 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.801 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 26.801 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.801 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.801 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.801 * [backup-simplify]: Simplify -0.5 into -0.5 26.801 * [taylor]: Taking taylor expansion of phi1 in phi1 26.801 * [backup-simplify]: Simplify 0 into 0 26.801 * [backup-simplify]: Simplify 1 into 1 26.801 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.802 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 26.802 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.802 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.802 * [backup-simplify]: Simplify -0.5 into -0.5 26.802 * [taylor]: Taking taylor expansion of phi2 in phi1 26.802 * [backup-simplify]: Simplify phi2 into phi2 26.802 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.802 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.802 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.802 * [backup-simplify]: Simplify -0.5 into -0.5 26.802 * [taylor]: Taking taylor expansion of phi1 in phi1 26.802 * [backup-simplify]: Simplify 0 into 0 26.802 * [backup-simplify]: Simplify 1 into 1 26.802 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.802 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.802 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.802 * [backup-simplify]: Simplify lambda2 into lambda2 26.802 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.802 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.803 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.803 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.803 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.803 * [backup-simplify]: Simplify (- 0) into 0 26.803 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.803 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.803 * [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)))) 26.803 * [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))))) 26.803 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.804 * [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)) 26.804 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 26.804 * [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 phi1 26.804 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 26.804 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.804 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.804 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.804 * [backup-simplify]: Simplify -0.5 into -0.5 26.804 * [taylor]: Taking taylor expansion of phi2 in phi1 26.804 * [backup-simplify]: Simplify phi2 into phi2 26.804 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.804 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.804 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.804 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 26.804 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.804 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.804 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.804 * [backup-simplify]: Simplify -0.5 into -0.5 26.804 * [taylor]: Taking taylor expansion of phi1 in phi1 26.804 * [backup-simplify]: Simplify 0 into 0 26.804 * [backup-simplify]: Simplify 1 into 1 26.805 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.805 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.805 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 26.805 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.805 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.805 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.805 * [backup-simplify]: Simplify -0.5 into -0.5 26.805 * [taylor]: Taking taylor expansion of phi2 in phi1 26.805 * [backup-simplify]: Simplify phi2 into phi2 26.805 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.805 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.805 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.805 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.805 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.805 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.805 * [backup-simplify]: Simplify -0.5 into -0.5 26.805 * [taylor]: Taking taylor expansion of phi1 in phi1 26.805 * [backup-simplify]: Simplify 0 into 0 26.805 * [backup-simplify]: Simplify 1 into 1 26.805 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.805 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.805 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.805 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.806 * [backup-simplify]: Simplify lambda2 into lambda2 26.806 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.806 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.806 * [backup-simplify]: Simplify (- 0) into 0 26.806 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.806 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.806 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.806 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.806 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.806 * [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)))) 26.807 * [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))))) 26.807 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.807 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 26.807 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 26.807 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in phi1 26.807 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in phi1 26.807 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.807 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.807 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.807 * [backup-simplify]: Simplify -0.5 into -0.5 26.807 * [taylor]: Taking taylor expansion of phi1 in phi1 26.807 * [backup-simplify]: Simplify 0 into 0 26.807 * [backup-simplify]: Simplify 1 into 1 26.807 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.807 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.807 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in phi1 26.808 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.808 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.808 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.808 * [backup-simplify]: Simplify -0.5 into -0.5 26.808 * [taylor]: Taking taylor expansion of phi1 in phi1 26.808 * [backup-simplify]: Simplify 0 into 0 26.808 * [backup-simplify]: Simplify 1 into 1 26.808 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.808 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.808 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in phi1 26.808 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.808 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.808 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.808 * [backup-simplify]: Simplify -0.5 into -0.5 26.808 * [taylor]: Taking taylor expansion of phi2 in phi1 26.808 * [backup-simplify]: Simplify phi2 into phi2 26.808 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.808 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.808 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.808 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.808 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.808 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.808 * [backup-simplify]: Simplify -0.5 into -0.5 26.808 * [taylor]: Taking taylor expansion of phi2 in phi1 26.808 * [backup-simplify]: Simplify phi2 into phi2 26.808 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.808 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.809 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.809 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.809 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.809 * [backup-simplify]: Simplify lambda1 into lambda1 26.809 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.809 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.809 * [backup-simplify]: Simplify (- 0) into 0 26.809 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.809 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.809 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.809 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.809 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 26.809 * [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)))) 26.810 * [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))))) 26.810 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.810 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) 26.810 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 26.810 * [taylor]: Taking taylor expansion of 2 in phi1 26.810 * [backup-simplify]: Simplify 2 into 2 26.810 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 26.810 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 26.810 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 26.810 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 26.810 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.810 * [backup-simplify]: Simplify -0.5 into -0.5 26.810 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 26.810 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 26.810 * [taylor]: Taking taylor expansion of phi1 in phi1 26.810 * [backup-simplify]: Simplify 0 into 0 26.810 * [backup-simplify]: Simplify 1 into 1 26.811 * [backup-simplify]: Simplify (/ 1 1) into 1 26.811 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 26.811 * [taylor]: Taking taylor expansion of phi2 in phi1 26.811 * [backup-simplify]: Simplify phi2 into phi2 26.811 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.811 * [backup-simplify]: Simplify (+ 1 0) into 1 26.811 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 26.811 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.811 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 26.811 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.811 * [backup-simplify]: Simplify lambda2 into lambda2 26.811 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.811 * [backup-simplify]: Simplify lambda1 into lambda1 26.812 * [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) 26.812 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 26.812 * [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)) 26.813 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)))) into 0 26.813 * [taylor]: Taking taylor expansion of 0 in lambda1 26.813 * [backup-simplify]: Simplify 0 into 0 26.813 * [taylor]: Taking taylor expansion of 0 in lambda1 26.813 * [backup-simplify]: Simplify 0 into 0 26.813 * [taylor]: Taking taylor expansion of -1 in lambda2 26.813 * [backup-simplify]: Simplify -1 into -1 26.813 * [taylor]: Taking taylor expansion of 1 in lambda2 26.814 * [backup-simplify]: Simplify 1 into 1 26.815 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 26.816 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 26.816 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 26.817 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 26.817 * [backup-simplify]: Simplify (+ 0) into 0 26.817 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.818 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.818 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.819 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.819 * [backup-simplify]: Simplify (+ 0 0) into 0 26.820 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.820 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.820 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.820 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.821 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 26.822 * [backup-simplify]: Simplify (+ 0) into 0 26.822 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.823 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.823 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.824 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.824 * [backup-simplify]: Simplify (- 0) into 0 26.825 * [backup-simplify]: Simplify (+ 0 0) into 0 26.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.825 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.826 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.826 * [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 26.827 * [backup-simplify]: Simplify (+ 0) into 0 26.827 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.827 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.828 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.829 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.829 * [backup-simplify]: Simplify (- 0) into 0 26.829 * [backup-simplify]: Simplify (+ 0 0) into 0 26.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.830 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.830 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.831 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 26.831 * [backup-simplify]: Simplify (+ 0) into 0 26.832 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.832 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.834 * [backup-simplify]: Simplify (+ 0 0) into 0 26.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.835 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.835 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.835 * [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 26.836 * [backup-simplify]: Simplify (+ 0 0) into 0 26.836 * [backup-simplify]: Simplify (+ 0 0) into 0 26.836 * [backup-simplify]: Simplify (+ 0 0) into 0 26.836 * [backup-simplify]: Simplify (+ 0 0) into 0 26.837 * [backup-simplify]: Simplify (+ 0 0) into 0 26.837 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 26.837 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 26.837 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 26.838 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 26.838 * [backup-simplify]: Simplify (+ 0) into 0 26.839 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.839 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.840 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.840 * [backup-simplify]: Simplify (- 0) into 0 26.840 * [backup-simplify]: Simplify (+ 0 0) into 0 26.840 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 26.840 * [backup-simplify]: Simplify (+ 0) into 0 26.841 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.841 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.841 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.842 * [backup-simplify]: Simplify (+ 0 0) into 0 26.842 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 26.842 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.843 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 26.843 * [backup-simplify]: Simplify (+ 0) into 0 26.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.843 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.844 * [backup-simplify]: Simplify (+ 0 0) into 0 26.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.845 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 26.845 * [backup-simplify]: Simplify (+ 0) into 0 26.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.845 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.846 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.846 * [backup-simplify]: Simplify (- 0) into 0 26.846 * [backup-simplify]: Simplify (+ 0 0) into 0 26.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 26.847 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.847 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 26.848 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 phi1)))) into 0 26.848 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 26.849 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ 1 phi1)))) into 0 26.849 * [backup-simplify]: Simplify (+ 0) into 0 26.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.850 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.850 * [backup-simplify]: Simplify (+ 0 0) into 0 26.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.851 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 26.851 * [backup-simplify]: Simplify (+ 0) into 0 26.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.851 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.852 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.852 * [backup-simplify]: Simplify (- 0) into 0 26.852 * [backup-simplify]: Simplify (+ 0 0) into 0 26.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 26.853 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.853 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 26.854 * [backup-simplify]: Simplify (+ 0) into 0 26.854 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.854 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.855 * [backup-simplify]: Simplify (- 0) into 0 26.855 * [backup-simplify]: Simplify (+ 0 0) into 0 26.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 26.856 * [backup-simplify]: Simplify (+ 0) into 0 26.856 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.856 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.857 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.857 * [backup-simplify]: Simplify (+ 0 0) into 0 26.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 26.857 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.858 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 26.858 * [backup-simplify]: Simplify (+ 0 0) into 0 26.858 * [backup-simplify]: Simplify (+ 0 0) into 0 26.859 * [backup-simplify]: Simplify (+ 0 0) into 0 26.859 * [backup-simplify]: Simplify (+ 0 0) into 0 26.859 * [backup-simplify]: Simplify (+ 0 0) into 0 26.859 * [backup-simplify]: Simplify (- 0) into 0 26.859 * [backup-simplify]: Simplify (+ 0 0) into 0 26.866 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (/ -1 phi1) (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 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 (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))))))))) 26.866 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))))))))) in phi1 26.867 * [taylor]: Taking taylor expansion of 1/2 in phi1 26.867 * [backup-simplify]: Simplify 1/2 into 1/2 26.867 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2)))))))) in phi1 26.867 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))))) in phi1 26.867 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) in phi1 26.867 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 26.867 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 26.867 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.867 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.867 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.867 * [backup-simplify]: Simplify -0.5 into -0.5 26.867 * [taylor]: Taking taylor expansion of phi2 in phi1 26.867 * [backup-simplify]: Simplify phi2 into phi2 26.867 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.867 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.867 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.867 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.867 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.867 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.868 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 26.868 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.868 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.868 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.868 * [backup-simplify]: Simplify -0.5 into -0.5 26.868 * [taylor]: Taking taylor expansion of phi1 in phi1 26.868 * [backup-simplify]: Simplify 0 into 0 26.868 * [backup-simplify]: Simplify 1 into 1 26.868 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.868 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.868 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 26.868 * [taylor]: Taking taylor expansion of phi1 in phi1 26.868 * [backup-simplify]: Simplify 0 into 0 26.868 * [backup-simplify]: Simplify 1 into 1 26.868 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.868 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.868 * [backup-simplify]: Simplify lambda2 into lambda2 26.869 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.869 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.869 * [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)) 26.869 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.869 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 26.869 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.870 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 26.870 * [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)) 26.870 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))))) in phi1 26.870 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) in phi1 26.870 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 26.870 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 26.870 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.870 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.870 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.871 * [backup-simplify]: Simplify -0.5 into -0.5 26.871 * [taylor]: Taking taylor expansion of phi2 in phi1 26.871 * [backup-simplify]: Simplify phi2 into phi2 26.871 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.871 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.871 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.871 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.871 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.871 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.871 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 26.871 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.871 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.871 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.871 * [backup-simplify]: Simplify -0.5 into -0.5 26.871 * [taylor]: Taking taylor expansion of phi1 in phi1 26.871 * [backup-simplify]: Simplify 0 into 0 26.871 * [backup-simplify]: Simplify 1 into 1 26.872 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.872 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.872 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 26.872 * [taylor]: Taking taylor expansion of phi1 in phi1 26.872 * [backup-simplify]: Simplify 0 into 0 26.872 * [backup-simplify]: Simplify 1 into 1 26.872 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.872 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.872 * [backup-simplify]: Simplify lambda1 into lambda1 26.872 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.872 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.873 * [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)) 26.873 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.873 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 26.873 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.873 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 26.874 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) 26.874 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2)))) in phi1 26.874 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda1 2))) in phi1 26.874 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 26.874 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 26.874 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.874 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.874 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.874 * [backup-simplify]: Simplify -0.5 into -0.5 26.874 * [taylor]: Taking taylor expansion of phi2 in phi1 26.874 * [backup-simplify]: Simplify phi2 into phi2 26.874 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.874 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.874 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.874 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.875 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.875 * [backup-simplify]: Simplify (- 0) into 0 26.875 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.875 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 26.875 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.875 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.875 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.875 * [backup-simplify]: Simplify -0.5 into -0.5 26.875 * [taylor]: Taking taylor expansion of phi1 in phi1 26.875 * [backup-simplify]: Simplify 0 into 0 26.875 * [backup-simplify]: Simplify 1 into 1 26.876 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.876 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.876 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 26.876 * [taylor]: Taking taylor expansion of phi1 in phi1 26.876 * [backup-simplify]: Simplify 0 into 0 26.876 * [backup-simplify]: Simplify 1 into 1 26.876 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.876 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.876 * [backup-simplify]: Simplify lambda1 into lambda1 26.876 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.876 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.877 * [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)) 26.877 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.877 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 26.877 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.877 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 26.878 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 26.878 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) in phi1 26.878 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 26.878 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 26.878 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.878 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.878 * [backup-simplify]: Simplify -0.5 into -0.5 26.878 * [taylor]: Taking taylor expansion of phi2 in phi1 26.878 * [backup-simplify]: Simplify phi2 into phi2 26.878 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.878 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.879 * [backup-simplify]: Simplify (- 0) into 0 26.879 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.879 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 26.879 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.879 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.879 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.879 * [backup-simplify]: Simplify -0.5 into -0.5 26.879 * [taylor]: Taking taylor expansion of phi1 in phi1 26.879 * [backup-simplify]: Simplify 0 into 0 26.879 * [backup-simplify]: Simplify 1 into 1 26.879 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.880 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 26.880 * [taylor]: Taking taylor expansion of phi1 in phi1 26.880 * [backup-simplify]: Simplify 0 into 0 26.880 * [backup-simplify]: Simplify 1 into 1 26.880 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.880 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.880 * [backup-simplify]: Simplify lambda2 into lambda2 26.880 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.880 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.880 * [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)) 26.880 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.881 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 26.881 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.887 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 26.887 * [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)) 26.887 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))))))) in phi1 26.887 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) in phi1 26.887 * [taylor]: Taking taylor expansion of 2 in phi1 26.887 * [backup-simplify]: Simplify 2 into 2 26.888 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1))) in phi1 26.888 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 26.888 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 26.888 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 26.888 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.888 * [backup-simplify]: Simplify -0.5 into -0.5 26.888 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 26.888 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 26.888 * [taylor]: Taking taylor expansion of phi1 in phi1 26.888 * [backup-simplify]: Simplify 0 into 0 26.888 * [backup-simplify]: Simplify 1 into 1 26.889 * [backup-simplify]: Simplify (/ 1 1) into 1 26.889 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 26.889 * [taylor]: Taking taylor expansion of phi2 in phi1 26.889 * [backup-simplify]: Simplify phi2 into phi2 26.889 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.889 * [backup-simplify]: Simplify (+ 1 0) into 1 26.890 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 26.890 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.890 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 phi1)) in phi1 26.890 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.890 * [backup-simplify]: Simplify lambda2 into lambda2 26.890 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 26.890 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.890 * [backup-simplify]: Simplify lambda1 into lambda1 26.890 * [taylor]: Taking taylor expansion of phi1 in phi1 26.890 * [backup-simplify]: Simplify 0 into 0 26.890 * [backup-simplify]: Simplify 1 into 1 26.890 * [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) 26.890 * [backup-simplify]: Simplify (* lambda1 0) into 0 26.890 * [backup-simplify]: Simplify (* lambda2 0) into 0 26.891 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 26.891 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 26.892 * [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)) 26.892 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2)))))) in phi1 26.892 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda1 2))) in phi1 26.892 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 26.892 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.892 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.892 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.892 * [backup-simplify]: Simplify -0.5 into -0.5 26.892 * [taylor]: Taking taylor expansion of phi1 in phi1 26.892 * [backup-simplify]: Simplify 0 into 0 26.892 * [backup-simplify]: Simplify 1 into 1 26.892 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.892 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.892 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 26.892 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.892 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.892 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.892 * [backup-simplify]: Simplify -0.5 into -0.5 26.893 * [taylor]: Taking taylor expansion of phi2 in phi1 26.893 * [backup-simplify]: Simplify phi2 into phi2 26.893 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.893 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.893 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.893 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 26.893 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.893 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.893 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.893 * [backup-simplify]: Simplify -0.5 into -0.5 26.893 * [taylor]: Taking taylor expansion of phi1 in phi1 26.893 * [backup-simplify]: Simplify 0 into 0 26.893 * [backup-simplify]: Simplify 1 into 1 26.893 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.893 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.893 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.894 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.894 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.894 * [backup-simplify]: Simplify -0.5 into -0.5 26.894 * [taylor]: Taking taylor expansion of phi2 in phi1 26.894 * [backup-simplify]: Simplify phi2 into phi2 26.894 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.894 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.894 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.894 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 26.894 * [taylor]: Taking taylor expansion of phi1 in phi1 26.894 * [backup-simplify]: Simplify 0 into 0 26.894 * [backup-simplify]: Simplify 1 into 1 26.894 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.894 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.894 * [backup-simplify]: Simplify lambda1 into lambda1 26.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.894 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.895 * [backup-simplify]: Simplify (- 0) into 0 26.895 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 26.895 * [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)))) 26.896 * [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))))) 26.896 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.896 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 26.896 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.896 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 26.897 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) 26.897 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))))) in phi1 26.897 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) in phi1 26.897 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 26.897 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.897 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.897 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.897 * [backup-simplify]: Simplify -0.5 into -0.5 26.897 * [taylor]: Taking taylor expansion of phi1 in phi1 26.897 * [backup-simplify]: Simplify 0 into 0 26.897 * [backup-simplify]: Simplify 1 into 1 26.898 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.898 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.898 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 26.898 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.898 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.898 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.898 * [backup-simplify]: Simplify -0.5 into -0.5 26.898 * [taylor]: Taking taylor expansion of phi2 in phi1 26.898 * [backup-simplify]: Simplify phi2 into phi2 26.898 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.898 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.898 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.898 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 26.898 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.898 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.898 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.898 * [backup-simplify]: Simplify -0.5 into -0.5 26.898 * [taylor]: Taking taylor expansion of phi1 in phi1 26.898 * [backup-simplify]: Simplify 0 into 0 26.898 * [backup-simplify]: Simplify 1 into 1 26.899 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.899 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.899 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.899 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.899 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.899 * [backup-simplify]: Simplify -0.5 into -0.5 26.899 * [taylor]: Taking taylor expansion of phi2 in phi1 26.899 * [backup-simplify]: Simplify phi2 into phi2 26.899 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.899 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.899 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.899 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 26.899 * [taylor]: Taking taylor expansion of phi1 in phi1 26.899 * [backup-simplify]: Simplify 0 into 0 26.899 * [backup-simplify]: Simplify 1 into 1 26.899 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.899 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.899 * [backup-simplify]: Simplify lambda2 into lambda2 26.899 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.900 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.900 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.900 * [backup-simplify]: Simplify (- 0) into 0 26.900 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.901 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 26.901 * [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)))) 26.901 * [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))))) 26.901 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.901 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 26.901 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.902 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 26.902 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) 26.902 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2)))) in phi1 26.902 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) in phi1 26.902 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 26.902 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.902 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.902 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.903 * [backup-simplify]: Simplify -0.5 into -0.5 26.903 * [taylor]: Taking taylor expansion of phi1 in phi1 26.903 * [backup-simplify]: Simplify 0 into 0 26.903 * [backup-simplify]: Simplify 1 into 1 26.903 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.903 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.903 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 26.903 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.903 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.903 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.903 * [backup-simplify]: Simplify -0.5 into -0.5 26.903 * [taylor]: Taking taylor expansion of phi2 in phi1 26.903 * [backup-simplify]: Simplify phi2 into phi2 26.903 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.903 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.904 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.904 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 26.904 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.904 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.904 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.904 * [backup-simplify]: Simplify -0.5 into -0.5 26.904 * [taylor]: Taking taylor expansion of phi2 in phi1 26.904 * [backup-simplify]: Simplify phi2 into phi2 26.904 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.904 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.904 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.904 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.904 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.904 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.904 * [backup-simplify]: Simplify -0.5 into -0.5 26.904 * [taylor]: Taking taylor expansion of phi1 in phi1 26.904 * [backup-simplify]: Simplify 0 into 0 26.904 * [backup-simplify]: Simplify 1 into 1 26.905 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.905 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.905 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 26.905 * [taylor]: Taking taylor expansion of phi1 in phi1 26.905 * [backup-simplify]: Simplify 0 into 0 26.905 * [backup-simplify]: Simplify 1 into 1 26.905 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 26.905 * [taylor]: Taking taylor expansion of lambda2 in phi1 26.905 * [backup-simplify]: Simplify lambda2 into lambda2 26.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.905 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.906 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.906 * [backup-simplify]: Simplify (- 0) into 0 26.906 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.906 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.907 * [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)))) 26.907 * [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))))) 26.907 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.907 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 26.907 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 26.908 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 26.908 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 26.908 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda1 2))) in phi1 26.908 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 26.908 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 26.909 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.909 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.909 * [backup-simplify]: Simplify -0.5 into -0.5 26.909 * [taylor]: Taking taylor expansion of phi1 in phi1 26.909 * [backup-simplify]: Simplify 0 into 0 26.909 * [backup-simplify]: Simplify 1 into 1 26.909 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.909 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.909 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 26.909 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 26.909 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.909 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.909 * [backup-simplify]: Simplify -0.5 into -0.5 26.909 * [taylor]: Taking taylor expansion of phi2 in phi1 26.910 * [backup-simplify]: Simplify phi2 into phi2 26.910 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.910 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.910 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.910 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 26.910 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 26.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 26.910 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.910 * [backup-simplify]: Simplify -0.5 into -0.5 26.910 * [taylor]: Taking taylor expansion of phi2 in phi1 26.910 * [backup-simplify]: Simplify phi2 into phi2 26.910 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.910 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.910 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.910 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 26.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 26.910 * [taylor]: Taking taylor expansion of -0.5 in phi1 26.910 * [backup-simplify]: Simplify -0.5 into -0.5 26.910 * [taylor]: Taking taylor expansion of phi1 in phi1 26.910 * [backup-simplify]: Simplify 0 into 0 26.910 * [backup-simplify]: Simplify 1 into 1 26.911 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 26.911 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.911 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 26.911 * [taylor]: Taking taylor expansion of phi1 in phi1 26.911 * [backup-simplify]: Simplify 0 into 0 26.911 * [backup-simplify]: Simplify 1 into 1 26.911 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 26.911 * [taylor]: Taking taylor expansion of lambda1 in phi1 26.911 * [backup-simplify]: Simplify lambda1 into lambda1 26.911 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.912 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.912 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.912 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.912 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.912 * [backup-simplify]: Simplify (- 0) into 0 26.912 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.913 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.913 * [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)))) 26.913 * [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))))) 26.913 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 26.913 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 26.914 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 26.914 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 26.915 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 26.916 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 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 (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))) 26.917 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) 26.920 * [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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) 26.920 * [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))) 26.921 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) 26.923 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (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 lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -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)))) 26.926 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -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))))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) 26.930 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))) 26.933 * [backup-simplify]: Simplify (- (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) into (- (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2))))))) 26.941 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 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))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))))) 26.947 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 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))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) into (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -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 lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) 26.948 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -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 lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) in lambda1 26.948 * [taylor]: Taking taylor expansion of 1/2 in lambda1 26.948 * [backup-simplify]: Simplify 1/2 into 1/2 26.948 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -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 lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))))) in lambda1 26.948 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1 26.948 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 26.948 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 26.948 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 26.948 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 26.948 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.948 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.948 * [backup-simplify]: Simplify -0.5 into -0.5 26.948 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.948 * [backup-simplify]: Simplify phi2 into phi2 26.948 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.948 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.948 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.948 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.949 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.949 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.949 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 26.949 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 26.949 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.949 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.949 * [backup-simplify]: Simplify -0.5 into -0.5 26.949 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.949 * [backup-simplify]: Simplify phi1 into phi1 26.949 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.949 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.949 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.949 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.949 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.949 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.949 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.949 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.949 * [backup-simplify]: Simplify 0 into 0 26.949 * [backup-simplify]: Simplify 1 into 1 26.950 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.950 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.950 * [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)) 26.951 * [backup-simplify]: Simplify (* 1 1) into 1 26.951 * [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)) 26.951 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 26.951 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 26.951 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 26.951 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 26.951 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 26.951 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.951 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.951 * [backup-simplify]: Simplify -0.5 into -0.5 26.951 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.951 * [backup-simplify]: Simplify phi2 into phi2 26.951 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.951 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.951 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.952 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.952 * [backup-simplify]: Simplify (- 0) into 0 26.952 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.952 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 26.952 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 26.952 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.952 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.952 * [backup-simplify]: Simplify -0.5 into -0.5 26.952 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.952 * [backup-simplify]: Simplify phi1 into phi1 26.952 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.952 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.953 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.953 * [backup-simplify]: Simplify (- 0) into 0 26.953 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.953 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.953 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.953 * [backup-simplify]: Simplify lambda2 into lambda2 26.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.954 * [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)) 26.954 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.954 * [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)) 26.954 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 26.954 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 26.954 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 26.954 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 26.954 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 26.955 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.955 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.955 * [backup-simplify]: Simplify -0.5 into -0.5 26.955 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.955 * [backup-simplify]: Simplify phi2 into phi2 26.955 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.955 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.955 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.955 * [backup-simplify]: Simplify (- 0) into 0 26.956 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.956 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 26.956 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 26.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.956 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.956 * [backup-simplify]: Simplify -0.5 into -0.5 26.956 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.956 * [backup-simplify]: Simplify phi1 into phi1 26.956 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.956 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.956 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.956 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.956 * [backup-simplify]: Simplify (- 0) into 0 26.957 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.957 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.957 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.957 * [backup-simplify]: Simplify 0 into 0 26.957 * [backup-simplify]: Simplify 1 into 1 26.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.957 * [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)) 26.958 * [backup-simplify]: Simplify (* 1 1) into 1 26.958 * [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)) 26.958 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 26.958 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 26.958 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 26.958 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 26.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.958 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.958 * [backup-simplify]: Simplify -0.5 into -0.5 26.958 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.958 * [backup-simplify]: Simplify phi2 into phi2 26.958 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.958 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.959 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.959 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.959 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 26.959 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 26.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.959 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.959 * [backup-simplify]: Simplify -0.5 into -0.5 26.959 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.959 * [backup-simplify]: Simplify phi1 into phi1 26.959 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.959 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.959 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.960 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.960 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.960 * [backup-simplify]: Simplify lambda2 into lambda2 26.960 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.960 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.960 * [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)) 26.960 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.961 * [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)) 26.961 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -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 lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))) in lambda1 26.961 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1 26.961 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 26.961 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 26.961 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.961 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.961 * [backup-simplify]: Simplify -0.5 into -0.5 26.961 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.961 * [backup-simplify]: Simplify phi2 into phi2 26.961 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.961 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.961 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.961 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 26.961 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 26.961 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.961 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.961 * [backup-simplify]: Simplify -0.5 into -0.5 26.961 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.961 * [backup-simplify]: Simplify phi1 into phi1 26.961 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.961 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.962 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.962 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 26.962 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 26.962 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.962 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.962 * [backup-simplify]: Simplify -0.5 into -0.5 26.962 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.962 * [backup-simplify]: Simplify phi2 into phi2 26.962 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.962 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.962 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.962 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 26.962 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.962 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.962 * [backup-simplify]: Simplify -0.5 into -0.5 26.962 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.962 * [backup-simplify]: Simplify phi1 into phi1 26.962 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.962 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.962 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.962 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.962 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.962 * [backup-simplify]: Simplify lambda2 into lambda2 26.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.963 * [backup-simplify]: Simplify (- 0) into 0 26.963 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.964 * [backup-simplify]: Simplify (- 0) into 0 26.964 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.964 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.964 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.964 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.964 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.965 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.965 * [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)))) 26.965 * [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))))) 26.965 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.966 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 26.966 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in lambda1 26.966 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in lambda1 26.966 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1 26.966 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 26.966 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.966 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.966 * [backup-simplify]: Simplify -0.5 into -0.5 26.966 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.966 * [backup-simplify]: Simplify phi2 into phi2 26.966 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.966 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.966 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.966 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1 26.966 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 26.966 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.966 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.966 * [backup-simplify]: Simplify -0.5 into -0.5 26.966 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.966 * [backup-simplify]: Simplify phi1 into phi1 26.966 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.967 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1 26.967 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 26.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.967 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.967 * [backup-simplify]: Simplify -0.5 into -0.5 26.967 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.967 * [backup-simplify]: Simplify phi1 into phi1 26.967 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.967 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 26.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.967 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.967 * [backup-simplify]: Simplify -0.5 into -0.5 26.967 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.967 * [backup-simplify]: Simplify phi2 into phi2 26.967 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.967 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.967 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.967 * [backup-simplify]: Simplify 0 into 0 26.967 * [backup-simplify]: Simplify 1 into 1 26.968 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.968 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.968 * [backup-simplify]: Simplify (- 0) into 0 26.968 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.968 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.968 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.969 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.969 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.969 * [backup-simplify]: Simplify (- 0) into 0 26.969 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.969 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.969 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 26.970 * [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)))) 26.970 * [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))))) 26.970 * [backup-simplify]: Simplify (* 1 1) into 1 26.971 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 26.971 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in lambda1 26.971 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 26.971 * [taylor]: Taking taylor expansion of 2 in lambda1 26.971 * [backup-simplify]: Simplify 2 into 2 26.971 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 26.971 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 26.971 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 26.971 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 26.971 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.971 * [backup-simplify]: Simplify -0.5 into -0.5 26.971 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 26.971 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 26.971 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.971 * [backup-simplify]: Simplify phi1 into phi1 26.971 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 26.971 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 26.971 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.971 * [backup-simplify]: Simplify phi2 into phi2 26.971 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 26.972 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 26.972 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 26.972 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.972 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.972 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.972 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 26.973 * [backup-simplify]: Simplify (- 0) into 0 26.973 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 26.973 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 26.973 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.973 * [backup-simplify]: Simplify lambda2 into lambda2 26.973 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.973 * [backup-simplify]: Simplify 0 into 0 26.973 * [backup-simplify]: Simplify 1 into 1 26.973 * [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) 26.973 * [backup-simplify]: Simplify (* lambda2 0) into 0 26.974 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 26.974 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 26.974 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in lambda1 26.974 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 26.974 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 26.974 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 26.974 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.974 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.974 * [backup-simplify]: Simplify -0.5 into -0.5 26.974 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.974 * [backup-simplify]: Simplify phi2 into phi2 26.974 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.975 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.975 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.975 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 26.975 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 26.975 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.975 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.975 * [backup-simplify]: Simplify -0.5 into -0.5 26.975 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.975 * [backup-simplify]: Simplify phi1 into phi1 26.975 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.975 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.975 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.975 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 26.975 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 26.975 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.975 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.975 * [backup-simplify]: Simplify -0.5 into -0.5 26.975 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.975 * [backup-simplify]: Simplify phi2 into phi2 26.975 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.975 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.975 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.975 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 26.976 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.976 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.976 * [backup-simplify]: Simplify -0.5 into -0.5 26.976 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.976 * [backup-simplify]: Simplify phi1 into phi1 26.976 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.976 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.976 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.976 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 26.976 * [taylor]: Taking taylor expansion of lambda1 in lambda1 26.976 * [backup-simplify]: Simplify 0 into 0 26.976 * [backup-simplify]: Simplify 1 into 1 26.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.977 * [backup-simplify]: Simplify (- 0) into 0 26.977 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.977 * [backup-simplify]: Simplify (- 0) into 0 26.977 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.978 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.978 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 26.978 * [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)))) 26.979 * [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))))) 26.979 * [backup-simplify]: Simplify (* 1 1) into 1 26.979 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 26.980 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1 26.980 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 26.980 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 26.980 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.980 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.980 * [backup-simplify]: Simplify -0.5 into -0.5 26.980 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.980 * [backup-simplify]: Simplify phi2 into phi2 26.980 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.980 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.980 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.980 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 26.980 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 26.980 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.980 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.980 * [backup-simplify]: Simplify -0.5 into -0.5 26.980 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.980 * [backup-simplify]: Simplify phi1 into phi1 26.980 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.980 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.980 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.980 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 26.980 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 26.981 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 26.981 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.981 * [backup-simplify]: Simplify -0.5 into -0.5 26.981 * [taylor]: Taking taylor expansion of phi2 in lambda1 26.981 * [backup-simplify]: Simplify phi2 into phi2 26.981 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.981 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.981 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.981 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 26.981 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 26.981 * [taylor]: Taking taylor expansion of -0.5 in lambda1 26.981 * [backup-simplify]: Simplify -0.5 into -0.5 26.981 * [taylor]: Taking taylor expansion of phi1 in lambda1 26.981 * [backup-simplify]: Simplify phi1 into phi1 26.981 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.981 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.981 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.981 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 26.981 * [taylor]: Taking taylor expansion of lambda2 in lambda1 26.981 * [backup-simplify]: Simplify lambda2 into lambda2 26.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.982 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.982 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.982 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.982 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.983 * [backup-simplify]: Simplify (- 0) into 0 26.983 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.983 * [backup-simplify]: Simplify (- 0) into 0 26.983 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.984 * [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)))) 26.984 * [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))))) 26.984 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 26.985 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 26.985 * [backup-simplify]: Simplify (+ 0) into 0 26.986 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.986 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.987 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.987 * [backup-simplify]: Simplify (+ 0 0) into 0 26.987 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.988 * [backup-simplify]: Simplify (+ 0) into 0 26.988 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.988 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.989 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.990 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.990 * [backup-simplify]: Simplify (+ 0 0) into 0 26.990 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.991 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.991 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 26.992 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 26.993 * [backup-simplify]: Simplify (+ 0) into 0 26.993 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.993 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.994 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.994 * [backup-simplify]: Simplify (- 0) into 0 26.995 * [backup-simplify]: Simplify (+ 0 0) into 0 26.995 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.995 * [backup-simplify]: Simplify (+ 0) into 0 26.996 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.996 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.997 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.997 * [backup-simplify]: Simplify (- 0) into 0 26.998 * [backup-simplify]: Simplify (+ 0 0) into 0 26.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.998 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.999 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 27.000 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 27.000 * [backup-simplify]: Simplify (+ 0 0) into 0 27.000 * [backup-simplify]: Simplify (+ 0 0) into 0 27.001 * [backup-simplify]: Simplify (+ 0 0) into 0 27.001 * [backup-simplify]: Simplify (+ 0) into 0 27.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.001 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.003 * [backup-simplify]: Simplify (+ 0 0) into 0 27.003 * [backup-simplify]: Simplify (+ 0) into 0 27.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.004 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.005 * [backup-simplify]: Simplify (- 0) into 0 27.005 * [backup-simplify]: Simplify (+ 0 0) into 0 27.006 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.006 * [backup-simplify]: Simplify (+ 0) into 0 27.006 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.007 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.008 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.008 * [backup-simplify]: Simplify (+ 0 0) into 0 27.008 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 27.009 * [backup-simplify]: Simplify (+ 0) into 0 27.009 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.009 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.010 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.011 * [backup-simplify]: Simplify (- 0) into 0 27.011 * [backup-simplify]: Simplify (+ 0 0) into 0 27.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 27.012 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 27.013 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (/ 0 1)))) into 0 27.013 * [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)) 27.014 * [backup-simplify]: Simplify (+ 0) into 0 27.014 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.015 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.016 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.016 * [backup-simplify]: Simplify (+ 0 0) into 0 27.017 * [backup-simplify]: Simplify (+ 0) into 0 27.017 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.017 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.018 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.019 * [backup-simplify]: Simplify (+ 0 0) into 0 27.019 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.019 * [backup-simplify]: Simplify (+ 0) into 0 27.020 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.020 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.021 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.021 * [backup-simplify]: Simplify (- 0) into 0 27.021 * [backup-simplify]: Simplify (+ 0 0) into 0 27.022 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 27.022 * [backup-simplify]: Simplify (+ 0) into 0 27.022 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.023 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.023 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.024 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.024 * [backup-simplify]: Simplify (- 0) into 0 27.024 * [backup-simplify]: Simplify (+ 0 0) into 0 27.025 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 27.025 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 27.026 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0 27.027 * [backup-simplify]: Simplify (+ 0 0) into 0 27.027 * [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)) 27.027 * [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)) 27.028 * [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)) 27.028 * [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))) 27.029 * [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))) 27.029 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 0) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 27.029 * [backup-simplify]: Simplify (+ 0 (* (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)) 27.030 * [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))) 27.030 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 27.031 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (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))))) 27.031 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) 27.032 * [backup-simplify]: Simplify (+ 0 (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (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))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 27.033 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) 27.035 * [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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -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))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) 27.037 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 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 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) into (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 27.037 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 27.037 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 27.037 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 27.037 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 27.037 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 27.037 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.037 * [backup-simplify]: Simplify -0.5 into -0.5 27.037 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 27.037 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 27.037 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.037 * [backup-simplify]: Simplify phi1 into phi1 27.037 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.037 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 27.037 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.037 * [backup-simplify]: Simplify phi2 into phi2 27.037 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 27.037 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 27.037 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 27.038 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.038 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.038 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.038 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 27.039 * [backup-simplify]: Simplify (- 0) into 0 27.039 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.039 * [taylor]: Taking taylor expansion of lambda2 in lambda2 27.039 * [backup-simplify]: Simplify 0 into 0 27.039 * [backup-simplify]: Simplify 1 into 1 27.039 * [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) 27.040 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 27.040 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 27.040 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 27.041 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) 27.043 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 27.045 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) 27.045 * [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))) 27.046 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 27.048 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 27.050 * [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 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 27.053 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 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)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))) 27.062 * [backup-simplify]: Simplify (- (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -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)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))))) 27.069 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 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)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) 27.075 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 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))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))))) into (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))))) 27.075 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))))) in lambda1 27.075 * [taylor]: Taking taylor expansion of 1/2 in lambda1 27.075 * [backup-simplify]: Simplify 1/2 into 1/2 27.075 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) in lambda1 27.075 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1 27.075 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 27.076 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 27.076 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 27.076 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 27.076 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 27.076 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.076 * [backup-simplify]: Simplify -0.5 into -0.5 27.076 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.076 * [backup-simplify]: Simplify phi2 into phi2 27.076 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.076 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.076 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.076 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.076 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.076 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 27.076 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 27.076 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 27.076 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.076 * [backup-simplify]: Simplify -0.5 into -0.5 27.076 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.076 * [backup-simplify]: Simplify phi1 into phi1 27.076 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.077 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.077 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.077 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.077 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.077 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.077 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 27.077 * [taylor]: Taking taylor expansion of lambda1 in lambda1 27.077 * [backup-simplify]: Simplify 0 into 0 27.077 * [backup-simplify]: Simplify 1 into 1 27.077 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.077 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.078 * [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)) 27.078 * [backup-simplify]: Simplify (* 1 1) into 1 27.079 * [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)) 27.079 * [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)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 27.079 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 27.079 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 27.079 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 27.079 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 27.079 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 27.079 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.079 * [backup-simplify]: Simplify -0.5 into -0.5 27.079 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.079 * [backup-simplify]: Simplify phi2 into phi2 27.079 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.079 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.079 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.079 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.079 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.080 * [backup-simplify]: Simplify (- 0) into 0 27.080 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.080 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 27.080 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 27.080 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 27.080 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.080 * [backup-simplify]: Simplify -0.5 into -0.5 27.080 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.080 * [backup-simplify]: Simplify phi1 into phi1 27.080 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.080 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.080 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.080 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.080 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.081 * [backup-simplify]: Simplify (- 0) into 0 27.081 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.081 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 27.081 * [taylor]: Taking taylor expansion of lambda2 in lambda1 27.081 * [backup-simplify]: Simplify lambda2 into lambda2 27.081 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.081 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.082 * [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)) 27.082 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 27.082 * [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)) 27.082 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 27.082 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1 27.082 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 27.082 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 27.082 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 27.082 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 27.082 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.082 * [backup-simplify]: Simplify -0.5 into -0.5 27.082 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.082 * [backup-simplify]: Simplify phi2 into phi2 27.082 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.082 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.082 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.083 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.083 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.083 * [backup-simplify]: Simplify (- 0) into 0 27.083 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.083 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 27.083 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 27.083 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 27.083 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.083 * [backup-simplify]: Simplify -0.5 into -0.5 27.083 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.083 * [backup-simplify]: Simplify phi1 into phi1 27.083 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.084 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.084 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.084 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.084 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.084 * [backup-simplify]: Simplify (- 0) into 0 27.084 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.084 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 27.084 * [taylor]: Taking taylor expansion of lambda1 in lambda1 27.084 * [backup-simplify]: Simplify 0 into 0 27.084 * [backup-simplify]: Simplify 1 into 1 27.085 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.085 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.085 * [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)) 27.085 * [backup-simplify]: Simplify (* 1 1) into 1 27.086 * [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)) 27.086 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 27.086 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 27.086 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 27.086 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 27.086 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 27.086 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.086 * [backup-simplify]: Simplify -0.5 into -0.5 27.086 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.086 * [backup-simplify]: Simplify phi2 into phi2 27.086 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.086 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.086 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.086 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.086 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.086 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.087 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 27.087 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 27.087 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 27.087 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.087 * [backup-simplify]: Simplify -0.5 into -0.5 27.087 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.087 * [backup-simplify]: Simplify phi1 into phi1 27.087 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.087 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.087 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.087 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.087 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.087 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.087 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 27.087 * [taylor]: Taking taylor expansion of lambda2 in lambda1 27.087 * [backup-simplify]: Simplify lambda2 into lambda2 27.088 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.088 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.088 * [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)) 27.088 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 27.088 * [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)) 27.089 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))) in lambda1 27.089 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 27.089 * [taylor]: Taking taylor expansion of 2 in lambda1 27.089 * [backup-simplify]: Simplify 2 into 2 27.089 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 27.089 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 27.089 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 27.089 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 27.089 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.089 * [backup-simplify]: Simplify -0.5 into -0.5 27.089 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 27.089 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 27.089 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.089 * [backup-simplify]: Simplify phi1 into phi1 27.089 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.089 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 27.089 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.089 * [backup-simplify]: Simplify phi2 into phi2 27.089 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 27.089 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 27.089 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 27.089 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.090 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.090 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.090 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 27.091 * [backup-simplify]: Simplify (- 0) into 0 27.091 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.091 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 27.091 * [taylor]: Taking taylor expansion of lambda2 in lambda1 27.091 * [backup-simplify]: Simplify lambda2 into lambda2 27.091 * [taylor]: Taking taylor expansion of lambda1 in lambda1 27.091 * [backup-simplify]: Simplify 0 into 0 27.091 * [backup-simplify]: Simplify 1 into 1 27.091 * [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) 27.091 * [backup-simplify]: Simplify (* lambda2 0) into 0 27.092 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 27.092 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 27.092 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))) in lambda1 27.092 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) in lambda1 27.092 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1 27.092 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 27.092 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 27.092 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.092 * [backup-simplify]: Simplify -0.5 into -0.5 27.092 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.092 * [backup-simplify]: Simplify phi1 into phi1 27.093 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.093 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.093 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.093 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1 27.093 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 27.093 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 27.093 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.093 * [backup-simplify]: Simplify -0.5 into -0.5 27.093 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.093 * [backup-simplify]: Simplify phi2 into phi2 27.093 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.093 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.093 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.093 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1 27.093 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 27.093 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 27.093 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.093 * [backup-simplify]: Simplify -0.5 into -0.5 27.093 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.093 * [backup-simplify]: Simplify phi1 into phi1 27.093 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.093 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.093 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.094 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 27.094 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 27.094 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.094 * [backup-simplify]: Simplify -0.5 into -0.5 27.094 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.094 * [backup-simplify]: Simplify phi2 into phi2 27.094 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.094 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.094 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.094 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 27.094 * [taylor]: Taking taylor expansion of lambda2 in lambda1 27.094 * [backup-simplify]: Simplify lambda2 into lambda2 27.094 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.094 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.094 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.094 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.095 * [backup-simplify]: Simplify (- 0) into 0 27.095 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.096 * [backup-simplify]: Simplify (- 0) into 0 27.096 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.096 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 27.096 * [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)))) 27.097 * [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))))) 27.097 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 27.097 * [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)) 27.097 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))) in lambda1 27.097 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 27.097 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 27.097 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 27.097 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 27.097 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.097 * [backup-simplify]: Simplify -0.5 into -0.5 27.097 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.097 * [backup-simplify]: Simplify phi2 into phi2 27.097 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.097 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.098 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.098 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 27.098 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 27.098 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 27.098 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.098 * [backup-simplify]: Simplify -0.5 into -0.5 27.098 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.098 * [backup-simplify]: Simplify phi1 into phi1 27.098 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.098 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.098 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.098 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 27.098 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 27.098 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 27.098 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.098 * [backup-simplify]: Simplify -0.5 into -0.5 27.098 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.098 * [backup-simplify]: Simplify phi2 into phi2 27.098 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.098 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.098 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.098 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 27.098 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 27.098 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.098 * [backup-simplify]: Simplify -0.5 into -0.5 27.098 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.099 * [backup-simplify]: Simplify phi1 into phi1 27.099 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.099 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.099 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.099 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 27.099 * [taylor]: Taking taylor expansion of lambda1 in lambda1 27.099 * [backup-simplify]: Simplify 0 into 0 27.099 * [backup-simplify]: Simplify 1 into 1 27.099 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.099 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.099 * [backup-simplify]: Simplify (- 0) into 0 27.100 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.100 * [backup-simplify]: Simplify (- 0) into 0 27.100 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.100 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.101 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.101 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.101 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 27.101 * [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)))) 27.101 * [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))))) 27.102 * [backup-simplify]: Simplify (* 1 1) into 1 27.102 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 27.102 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))) in lambda1 27.102 * [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 27.102 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda1 27.102 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 27.102 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 27.102 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.102 * [backup-simplify]: Simplify -0.5 into -0.5 27.102 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.102 * [backup-simplify]: Simplify phi2 into phi2 27.103 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.103 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.103 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.103 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda1 27.103 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 27.103 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 27.103 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.103 * [backup-simplify]: Simplify -0.5 into -0.5 27.103 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.103 * [backup-simplify]: Simplify phi2 into phi2 27.103 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.103 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.103 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.103 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda1 27.103 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 27.103 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 27.103 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.103 * [backup-simplify]: Simplify -0.5 into -0.5 27.103 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.103 * [backup-simplify]: Simplify phi1 into phi1 27.103 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.103 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.103 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.104 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 27.104 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 27.104 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.104 * [backup-simplify]: Simplify -0.5 into -0.5 27.104 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.104 * [backup-simplify]: Simplify phi1 into phi1 27.104 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.104 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.104 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.104 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 27.104 * [taylor]: Taking taylor expansion of lambda2 in lambda1 27.104 * [backup-simplify]: Simplify lambda2 into lambda2 27.104 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.104 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.104 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.104 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.104 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.105 * [backup-simplify]: Simplify (- 0) into 0 27.105 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.105 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.105 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.105 * [backup-simplify]: Simplify (- 0) into 0 27.106 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.106 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.106 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.106 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.106 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.106 * [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)))) 27.107 * [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))))) 27.107 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 27.107 * [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)) 27.107 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1 27.107 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 27.107 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 27.107 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 27.107 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.107 * [backup-simplify]: Simplify -0.5 into -0.5 27.107 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.107 * [backup-simplify]: Simplify phi1 into phi1 27.107 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.107 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.108 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.108 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 27.108 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 27.108 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 27.108 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.108 * [backup-simplify]: Simplify -0.5 into -0.5 27.108 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.108 * [backup-simplify]: Simplify phi2 into phi2 27.108 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.108 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.108 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.108 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 27.108 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 27.108 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 27.108 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.108 * [backup-simplify]: Simplify -0.5 into -0.5 27.108 * [taylor]: Taking taylor expansion of phi2 in lambda1 27.108 * [backup-simplify]: Simplify phi2 into phi2 27.108 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.108 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.108 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.108 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 27.108 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 27.108 * [taylor]: Taking taylor expansion of -0.5 in lambda1 27.108 * [backup-simplify]: Simplify -0.5 into -0.5 27.108 * [taylor]: Taking taylor expansion of phi1 in lambda1 27.108 * [backup-simplify]: Simplify phi1 into phi1 27.109 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.109 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.109 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.109 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 27.109 * [taylor]: Taking taylor expansion of lambda1 in lambda1 27.109 * [backup-simplify]: Simplify 0 into 0 27.109 * [backup-simplify]: Simplify 1 into 1 27.109 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.109 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.109 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.109 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.109 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.110 * [backup-simplify]: Simplify (- 0) into 0 27.110 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.110 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.110 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.110 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.110 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.110 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.111 * [backup-simplify]: Simplify (- 0) into 0 27.111 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.111 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 27.111 * [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)))) 27.111 * [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))))) 27.112 * [backup-simplify]: Simplify (* 1 1) into 1 27.112 * [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))))) 27.113 * [backup-simplify]: Simplify (+ 0) into 0 27.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.113 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.115 * [backup-simplify]: Simplify (+ 0 0) into 0 27.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.115 * [backup-simplify]: Simplify (+ 0) into 0 27.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.116 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.118 * [backup-simplify]: Simplify (+ 0 0) into 0 27.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.118 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 27.119 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 27.120 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 27.121 * [backup-simplify]: Simplify (+ 0) into 0 27.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.121 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.123 * [backup-simplify]: Simplify (- 0) into 0 27.124 * [backup-simplify]: Simplify (+ 0 0) into 0 27.124 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.124 * [backup-simplify]: Simplify (+ 0) into 0 27.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.125 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.126 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.127 * [backup-simplify]: Simplify (- 0) into 0 27.127 * [backup-simplify]: Simplify (+ 0 0) into 0 27.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 27.128 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 27.128 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 27.129 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 27.130 * [backup-simplify]: Simplify (+ 0 0) into 0 27.130 * [backup-simplify]: Simplify (+ 0 0) into 0 27.131 * [backup-simplify]: Simplify (+ 0 0) into 0 27.131 * [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)) 27.131 * [backup-simplify]: Simplify (+ 0) into 0 27.132 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.132 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.134 * [backup-simplify]: Simplify (+ 0 0) into 0 27.134 * [backup-simplify]: Simplify (+ 0) into 0 27.135 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.135 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.136 * [backup-simplify]: Simplify (+ 0 0) into 0 27.137 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.137 * [backup-simplify]: Simplify (+ 0) into 0 27.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.138 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.139 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.139 * [backup-simplify]: Simplify (- 0) into 0 27.140 * [backup-simplify]: Simplify (+ 0 0) into 0 27.140 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 27.140 * [backup-simplify]: Simplify (+ 0) into 0 27.141 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.141 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.142 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.142 * [backup-simplify]: Simplify (- 0) into 0 27.143 * [backup-simplify]: Simplify (+ 0 0) into 0 27.143 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 27.144 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 27.145 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0 27.145 * [backup-simplify]: Simplify (+ 0) into 0 27.145 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.146 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.147 * [backup-simplify]: Simplify (- 0) into 0 27.147 * [backup-simplify]: Simplify (+ 0 0) into 0 27.148 * [backup-simplify]: Simplify (+ 0) into 0 27.148 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.148 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.150 * [backup-simplify]: Simplify (+ 0 0) into 0 27.150 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.150 * [backup-simplify]: Simplify (+ 0) into 0 27.151 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.151 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.152 * [backup-simplify]: Simplify (- 0) into 0 27.153 * [backup-simplify]: Simplify (+ 0 0) into 0 27.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 27.153 * [backup-simplify]: Simplify (+ 0) into 0 27.154 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.154 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.154 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.155 * [backup-simplify]: Simplify (+ 0 0) into 0 27.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 27.156 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 27.157 * [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 27.158 * [backup-simplify]: Simplify (+ 0 0) into 0 27.158 * [backup-simplify]: Simplify (+ 0 0) into 0 27.158 * [backup-simplify]: Simplify (+ 0 0) into 0 27.159 * [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)) 27.159 * [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))) 27.159 * [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))) 27.160 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 0) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 27.160 * [backup-simplify]: Simplify (+ 0 (* (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)) 27.161 * [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))) 27.161 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (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))))) 27.162 * [backup-simplify]: Simplify (+ (* (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 (+ (* (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)))))) 27.163 * [backup-simplify]: Simplify (+ 0 (+ (* (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 (+ (* (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)))))) 27.164 * [backup-simplify]: Simplify (+ 0 (+ (* (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)))))) 27.164 * [backup-simplify]: Simplify (- (+ (* (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 (- (+ (* (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))))))) 27.166 * [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)) (* (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 (- (+ (* (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)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) 27.168 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) (* 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 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 (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 27.168 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 27.168 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 27.168 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 27.168 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 27.168 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 27.169 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.169 * [backup-simplify]: Simplify -0.5 into -0.5 27.169 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 27.169 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 27.169 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.169 * [backup-simplify]: Simplify phi1 into phi1 27.169 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.169 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 27.169 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.169 * [backup-simplify]: Simplify phi2 into phi2 27.169 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 27.169 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 27.169 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 27.169 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.169 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.170 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.170 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 27.170 * [backup-simplify]: Simplify (- 0) into 0 27.170 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.171 * [taylor]: Taking taylor expansion of lambda2 in lambda2 27.171 * [backup-simplify]: Simplify 0 into 0 27.171 * [backup-simplify]: Simplify 1 into 1 27.171 * [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) 27.171 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 27.172 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 27.172 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 27.173 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 27.173 * [taylor]: Taking taylor expansion of 0 in lambda1 27.173 * [backup-simplify]: Simplify 0 into 0 27.173 * [taylor]: Taking taylor expansion of 0 in lambda1 27.173 * [backup-simplify]: Simplify 0 into 0 27.173 * [taylor]: Taking taylor expansion of 0 in lambda2 27.173 * [backup-simplify]: Simplify 0 into 0 27.173 * [taylor]: Taking taylor expansion of 0 in lambda2 27.174 * [backup-simplify]: Simplify 0 into 0 27.174 * [taylor]: Taking taylor expansion of 0 in lambda2 27.174 * [backup-simplify]: Simplify 0 into 0 27.174 * [taylor]: Taking taylor expansion of 0 in lambda2 27.174 * [backup-simplify]: Simplify 0 into 0 27.174 * [backup-simplify]: Simplify -1 into -1 27.176 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* (/ 1 (/ 1 (- phi1))) 1)))) (+ (* (- (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2)) (* (/ 1 (/ 1 (- lambda2))) (* (/ 1 (/ 1 (- lambda1))) (* 1 (/ 1 (- phi2)))))) (* (- (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2)) (* (/ 1 (/ 1 (- lambda2))) (* (/ 1 (/ 1 (- lambda1))) (* (/ 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)) 27.176 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 2 1 1 1 2 2 2 1 1) 27.176 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 27.176 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0 27.176 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 27.177 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 27.177 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.177 * [backup-simplify]: Simplify 0.5 into 0.5 27.177 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 27.177 * [taylor]: Taking taylor expansion of phi2 in phi1 27.177 * [backup-simplify]: Simplify phi2 into phi2 27.177 * [taylor]: Taking taylor expansion of phi1 in phi1 27.177 * [backup-simplify]: Simplify 0 into 0 27.177 * [backup-simplify]: Simplify 1 into 1 27.177 * [backup-simplify]: Simplify (+ phi2 0) into phi2 27.177 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 27.177 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 27.177 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 27.177 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 27.177 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 27.177 * [taylor]: Taking taylor expansion of 0.5 in phi2 27.177 * [backup-simplify]: Simplify 0.5 into 0.5 27.177 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 27.177 * [taylor]: Taking taylor expansion of phi2 in phi2 27.177 * [backup-simplify]: Simplify 0 into 0 27.177 * [backup-simplify]: Simplify 1 into 1 27.177 * [taylor]: Taking taylor expansion of phi1 in phi2 27.177 * [backup-simplify]: Simplify phi1 into phi1 27.177 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 27.178 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 27.178 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 27.178 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 27.178 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 27.178 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 27.178 * [taylor]: Taking taylor expansion of 0.5 in phi2 27.178 * [backup-simplify]: Simplify 0.5 into 0.5 27.178 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 27.178 * [taylor]: Taking taylor expansion of phi2 in phi2 27.178 * [backup-simplify]: Simplify 0 into 0 27.178 * [backup-simplify]: Simplify 1 into 1 27.178 * [taylor]: Taking taylor expansion of phi1 in phi2 27.178 * [backup-simplify]: Simplify phi1 into phi1 27.178 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 27.178 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 27.178 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 27.178 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 27.179 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 27.179 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 27.179 * [backup-simplify]: Simplify (- 0) into 0 27.179 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 27.179 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 27.179 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 27.180 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.180 * [backup-simplify]: Simplify 0.5 into 0.5 27.180 * [taylor]: Taking taylor expansion of phi1 in phi1 27.180 * [backup-simplify]: Simplify 0 into 0 27.180 * [backup-simplify]: Simplify 1 into 1 27.180 * [backup-simplify]: Simplify (* 0.5 0) into 0 27.182 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 27.182 * [backup-simplify]: Simplify 1 into 1 27.183 * [backup-simplify]: Simplify (+ 0) into 0 27.183 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 27.184 * [backup-simplify]: Simplify (+ 1 0) into 1 27.184 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 27.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 27.188 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 27.188 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 27.188 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 27.188 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 27.188 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 27.188 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.188 * [backup-simplify]: Simplify 0.5 into 0.5 27.188 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 27.188 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 27.188 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.188 * [backup-simplify]: Simplify 0.5 into 0.5 27.188 * [taylor]: Taking taylor expansion of phi1 in phi1 27.188 * [backup-simplify]: Simplify 0 into 0 27.189 * [backup-simplify]: Simplify 1 into 1 27.189 * [backup-simplify]: Simplify (* 0.5 0) into 0 27.191 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 27.191 * [backup-simplify]: Simplify (* 0.5 0) into 0 27.191 * [backup-simplify]: Simplify (- 0) into 0 27.191 * [backup-simplify]: Simplify 0 into 0 27.192 * [backup-simplify]: Simplify (+ 0) into 0 27.192 * [backup-simplify]: Simplify 0 into 0 27.195 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 27.196 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 27.196 * [backup-simplify]: Simplify (+ 0 0) into 0 27.197 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 27.198 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.199 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 27.199 * [backup-simplify]: Simplify (- 0) into 0 27.199 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 27.199 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1 27.199 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1 27.199 * [taylor]: Taking taylor expansion of 0.125 in phi1 27.199 * [backup-simplify]: Simplify 0.125 into 0.125 27.199 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 27.199 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 27.199 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.199 * [backup-simplify]: Simplify 0.5 into 0.5 27.200 * [taylor]: Taking taylor expansion of phi1 in phi1 27.200 * [backup-simplify]: Simplify 0 into 0 27.200 * [backup-simplify]: Simplify 1 into 1 27.200 * [backup-simplify]: Simplify (* 0.5 0) into 0 27.201 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 27.202 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 27.202 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 27.203 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 27.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 27.206 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 27.207 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 27.207 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 27.208 * [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)))) 27.208 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.208 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 27.208 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 27.208 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 27.208 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.208 * [backup-simplify]: Simplify 0.5 into 0.5 27.208 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 27.209 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.209 * [taylor]: Taking taylor expansion of phi1 in phi1 27.209 * [backup-simplify]: Simplify 0 into 0 27.209 * [backup-simplify]: Simplify 1 into 1 27.209 * [backup-simplify]: Simplify (/ 1 1) into 1 27.209 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 27.209 * [taylor]: Taking taylor expansion of phi2 in phi1 27.209 * [backup-simplify]: Simplify phi2 into phi2 27.209 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 27.210 * [backup-simplify]: Simplify (+ 1 0) into 1 27.210 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 27.210 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.210 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 27.210 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 27.210 * [taylor]: Taking taylor expansion of 0.5 in phi2 27.210 * [backup-simplify]: Simplify 0.5 into 0.5 27.210 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 27.210 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 27.210 * [taylor]: Taking taylor expansion of phi1 in phi2 27.210 * [backup-simplify]: Simplify phi1 into phi1 27.211 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.211 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 27.211 * [taylor]: Taking taylor expansion of phi2 in phi2 27.211 * [backup-simplify]: Simplify 0 into 0 27.211 * [backup-simplify]: Simplify 1 into 1 27.211 * [backup-simplify]: Simplify (/ 1 1) into 1 27.211 * [backup-simplify]: Simplify (+ 0 1) into 1 27.212 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 27.212 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.212 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 27.212 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 27.212 * [taylor]: Taking taylor expansion of 0.5 in phi2 27.212 * [backup-simplify]: Simplify 0.5 into 0.5 27.212 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 27.212 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 27.212 * [taylor]: Taking taylor expansion of phi1 in phi2 27.212 * [backup-simplify]: Simplify phi1 into phi1 27.212 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.212 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 27.212 * [taylor]: Taking taylor expansion of phi2 in phi2 27.212 * [backup-simplify]: Simplify 0 into 0 27.212 * [backup-simplify]: Simplify 1 into 1 27.212 * [backup-simplify]: Simplify (/ 1 1) into 1 27.213 * [backup-simplify]: Simplify (+ 0 1) into 1 27.213 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 27.213 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.213 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 27.213 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 27.213 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.213 * [backup-simplify]: Simplify 0.5 into 0.5 27.213 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 27.213 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.213 * [taylor]: Taking taylor expansion of phi1 in phi1 27.213 * [backup-simplify]: Simplify 0 into 0 27.213 * [backup-simplify]: Simplify 1 into 1 27.214 * [backup-simplify]: Simplify (/ 1 1) into 1 27.214 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 27.214 * [taylor]: Taking taylor expansion of phi2 in phi1 27.214 * [backup-simplify]: Simplify phi2 into phi2 27.214 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 27.214 * [backup-simplify]: Simplify (+ 1 0) into 1 27.214 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 27.214 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.214 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.214 * [taylor]: Taking taylor expansion of 0 in phi1 27.214 * [backup-simplify]: Simplify 0 into 0 27.215 * [backup-simplify]: Simplify 0 into 0 27.215 * [backup-simplify]: Simplify 0 into 0 27.215 * [taylor]: Taking taylor expansion of 0 in phi1 27.215 * [backup-simplify]: Simplify 0 into 0 27.215 * [backup-simplify]: Simplify 0 into 0 27.215 * [backup-simplify]: Simplify 0 into 0 27.215 * [backup-simplify]: Simplify 0 into 0 27.215 * [taylor]: Taking taylor expansion of 0 in phi1 27.215 * [backup-simplify]: Simplify 0 into 0 27.215 * [backup-simplify]: Simplify 0 into 0 27.215 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 27.215 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.215 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 27.215 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 27.215 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 27.215 * [taylor]: Taking taylor expansion of -0.5 in phi1 27.215 * [backup-simplify]: Simplify -0.5 into -0.5 27.215 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 27.215 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.215 * [taylor]: Taking taylor expansion of phi1 in phi1 27.215 * [backup-simplify]: Simplify 0 into 0 27.215 * [backup-simplify]: Simplify 1 into 1 27.215 * [backup-simplify]: Simplify (/ 1 1) into 1 27.215 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 27.215 * [taylor]: Taking taylor expansion of phi2 in phi1 27.215 * [backup-simplify]: Simplify phi2 into phi2 27.216 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 27.216 * [backup-simplify]: Simplify (+ 1 0) into 1 27.216 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 27.216 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.216 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 27.216 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 27.216 * [taylor]: Taking taylor expansion of -0.5 in phi2 27.216 * [backup-simplify]: Simplify -0.5 into -0.5 27.216 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 27.216 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 27.216 * [taylor]: Taking taylor expansion of phi1 in phi2 27.216 * [backup-simplify]: Simplify phi1 into phi1 27.216 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.216 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 27.216 * [taylor]: Taking taylor expansion of phi2 in phi2 27.216 * [backup-simplify]: Simplify 0 into 0 27.216 * [backup-simplify]: Simplify 1 into 1 27.217 * [backup-simplify]: Simplify (/ 1 1) into 1 27.217 * [backup-simplify]: Simplify (+ 0 1) into 1 27.217 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 27.217 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.217 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 27.217 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 27.217 * [taylor]: Taking taylor expansion of -0.5 in phi2 27.217 * [backup-simplify]: Simplify -0.5 into -0.5 27.217 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 27.217 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 27.217 * [taylor]: Taking taylor expansion of phi1 in phi2 27.217 * [backup-simplify]: Simplify phi1 into phi1 27.218 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.218 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 27.218 * [taylor]: Taking taylor expansion of phi2 in phi2 27.218 * [backup-simplify]: Simplify 0 into 0 27.218 * [backup-simplify]: Simplify 1 into 1 27.218 * [backup-simplify]: Simplify (/ 1 1) into 1 27.218 * [backup-simplify]: Simplify (+ 0 1) into 1 27.218 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 27.218 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.219 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 27.219 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 27.219 * [taylor]: Taking taylor expansion of -0.5 in phi1 27.219 * [backup-simplify]: Simplify -0.5 into -0.5 27.219 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 27.219 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.219 * [taylor]: Taking taylor expansion of phi1 in phi1 27.219 * [backup-simplify]: Simplify 0 into 0 27.219 * [backup-simplify]: Simplify 1 into 1 27.224 * [backup-simplify]: Simplify (/ 1 1) into 1 27.224 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 27.224 * [taylor]: Taking taylor expansion of phi2 in phi1 27.224 * [backup-simplify]: Simplify phi2 into phi2 27.224 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 27.225 * [backup-simplify]: Simplify (+ 1 0) into 1 27.225 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 27.225 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.225 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.225 * [taylor]: Taking taylor expansion of 0 in phi1 27.225 * [backup-simplify]: Simplify 0 into 0 27.225 * [backup-simplify]: Simplify 0 into 0 27.225 * [backup-simplify]: Simplify 0 into 0 27.225 * [taylor]: Taking taylor expansion of 0 in phi1 27.225 * [backup-simplify]: Simplify 0 into 0 27.225 * [backup-simplify]: Simplify 0 into 0 27.225 * [backup-simplify]: Simplify 0 into 0 27.225 * [backup-simplify]: Simplify 0 into 0 27.225 * [taylor]: Taking taylor expansion of 0 in phi1 27.225 * [backup-simplify]: Simplify 0 into 0 27.225 * [backup-simplify]: Simplify 0 into 0 27.226 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 27.226 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1 1 1 2 2 2 1 1) 27.226 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 27.226 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0 27.226 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 27.226 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 27.226 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.226 * [backup-simplify]: Simplify 0.5 into 0.5 27.226 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 27.226 * [taylor]: Taking taylor expansion of phi2 in phi1 27.226 * [backup-simplify]: Simplify phi2 into phi2 27.226 * [taylor]: Taking taylor expansion of phi1 in phi1 27.226 * [backup-simplify]: Simplify 0 into 0 27.226 * [backup-simplify]: Simplify 1 into 1 27.226 * [backup-simplify]: Simplify (+ phi2 0) into phi2 27.226 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 27.226 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 27.226 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 27.226 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 27.226 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 27.226 * [taylor]: Taking taylor expansion of 0.5 in phi2 27.226 * [backup-simplify]: Simplify 0.5 into 0.5 27.226 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 27.226 * [taylor]: Taking taylor expansion of phi2 in phi2 27.226 * [backup-simplify]: Simplify 0 into 0 27.226 * [backup-simplify]: Simplify 1 into 1 27.226 * [taylor]: Taking taylor expansion of phi1 in phi2 27.226 * [backup-simplify]: Simplify phi1 into phi1 27.226 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 27.226 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 27.226 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 27.226 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 27.226 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 27.226 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 27.227 * [taylor]: Taking taylor expansion of 0.5 in phi2 27.227 * [backup-simplify]: Simplify 0.5 into 0.5 27.227 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 27.227 * [taylor]: Taking taylor expansion of phi2 in phi2 27.227 * [backup-simplify]: Simplify 0 into 0 27.227 * [backup-simplify]: Simplify 1 into 1 27.227 * [taylor]: Taking taylor expansion of phi1 in phi2 27.227 * [backup-simplify]: Simplify phi1 into phi1 27.227 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 27.227 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 27.227 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 27.227 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 27.227 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 27.227 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 27.227 * [backup-simplify]: Simplify (- 0) into 0 27.227 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 27.227 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 27.227 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 27.227 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.227 * [backup-simplify]: Simplify 0.5 into 0.5 27.227 * [taylor]: Taking taylor expansion of phi1 in phi1 27.227 * [backup-simplify]: Simplify 0 into 0 27.227 * [backup-simplify]: Simplify 1 into 1 27.228 * [backup-simplify]: Simplify (* 0.5 0) into 0 27.229 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 27.229 * [backup-simplify]: Simplify 1 into 1 27.229 * [backup-simplify]: Simplify (+ 0) into 0 27.229 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 27.229 * [backup-simplify]: Simplify (+ 1 0) into 1 27.230 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 27.231 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 27.232 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 27.232 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 27.232 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 27.232 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 27.232 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 27.232 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.232 * [backup-simplify]: Simplify 0.5 into 0.5 27.232 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 27.232 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 27.232 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.232 * [backup-simplify]: Simplify 0.5 into 0.5 27.232 * [taylor]: Taking taylor expansion of phi1 in phi1 27.232 * [backup-simplify]: Simplify 0 into 0 27.232 * [backup-simplify]: Simplify 1 into 1 27.232 * [backup-simplify]: Simplify (* 0.5 0) into 0 27.233 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 27.233 * [backup-simplify]: Simplify (* 0.5 0) into 0 27.234 * [backup-simplify]: Simplify (- 0) into 0 27.234 * [backup-simplify]: Simplify 0 into 0 27.234 * [backup-simplify]: Simplify (+ 0) into 0 27.234 * [backup-simplify]: Simplify 0 into 0 27.235 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 27.236 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 27.236 * [backup-simplify]: Simplify (+ 0 0) into 0 27.237 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 27.237 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 27.238 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 27.238 * [backup-simplify]: Simplify (- 0) into 0 27.238 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 27.238 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1 27.238 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1 27.238 * [taylor]: Taking taylor expansion of 0.125 in phi1 27.238 * [backup-simplify]: Simplify 0.125 into 0.125 27.238 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 27.238 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 27.238 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.238 * [backup-simplify]: Simplify 0.5 into 0.5 27.238 * [taylor]: Taking taylor expansion of phi1 in phi1 27.238 * [backup-simplify]: Simplify 0 into 0 27.238 * [backup-simplify]: Simplify 1 into 1 27.239 * [backup-simplify]: Simplify (* 0.5 0) into 0 27.239 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 27.240 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 27.240 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 27.240 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 27.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 27.243 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 27.243 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 27.243 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 27.244 * [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)))) 27.244 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.244 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 27.244 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 27.244 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 27.244 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.244 * [backup-simplify]: Simplify 0.5 into 0.5 27.244 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 27.244 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.244 * [taylor]: Taking taylor expansion of phi1 in phi1 27.244 * [backup-simplify]: Simplify 0 into 0 27.244 * [backup-simplify]: Simplify 1 into 1 27.244 * [backup-simplify]: Simplify (/ 1 1) into 1 27.244 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 27.244 * [taylor]: Taking taylor expansion of phi2 in phi1 27.244 * [backup-simplify]: Simplify phi2 into phi2 27.244 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 27.245 * [backup-simplify]: Simplify (+ 1 0) into 1 27.245 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 27.245 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.245 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 27.245 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 27.245 * [taylor]: Taking taylor expansion of 0.5 in phi2 27.245 * [backup-simplify]: Simplify 0.5 into 0.5 27.245 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 27.245 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 27.245 * [taylor]: Taking taylor expansion of phi1 in phi2 27.245 * [backup-simplify]: Simplify phi1 into phi1 27.245 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.245 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 27.245 * [taylor]: Taking taylor expansion of phi2 in phi2 27.245 * [backup-simplify]: Simplify 0 into 0 27.245 * [backup-simplify]: Simplify 1 into 1 27.246 * [backup-simplify]: Simplify (/ 1 1) into 1 27.246 * [backup-simplify]: Simplify (+ 0 1) into 1 27.246 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 27.246 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.246 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 27.246 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 27.246 * [taylor]: Taking taylor expansion of 0.5 in phi2 27.246 * [backup-simplify]: Simplify 0.5 into 0.5 27.246 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 27.246 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 27.246 * [taylor]: Taking taylor expansion of phi1 in phi2 27.246 * [backup-simplify]: Simplify phi1 into phi1 27.246 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.246 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 27.246 * [taylor]: Taking taylor expansion of phi2 in phi2 27.247 * [backup-simplify]: Simplify 0 into 0 27.247 * [backup-simplify]: Simplify 1 into 1 27.247 * [backup-simplify]: Simplify (/ 1 1) into 1 27.247 * [backup-simplify]: Simplify (+ 0 1) into 1 27.247 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 27.247 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.247 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 27.248 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 27.248 * [taylor]: Taking taylor expansion of 0.5 in phi1 27.248 * [backup-simplify]: Simplify 0.5 into 0.5 27.248 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 27.248 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.248 * [taylor]: Taking taylor expansion of phi1 in phi1 27.248 * [backup-simplify]: Simplify 0 into 0 27.248 * [backup-simplify]: Simplify 1 into 1 27.248 * [backup-simplify]: Simplify (/ 1 1) into 1 27.248 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 27.248 * [taylor]: Taking taylor expansion of phi2 in phi1 27.248 * [backup-simplify]: Simplify phi2 into phi2 27.248 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 27.248 * [backup-simplify]: Simplify (+ 1 0) into 1 27.249 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 27.249 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.249 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.249 * [taylor]: Taking taylor expansion of 0 in phi1 27.249 * [backup-simplify]: Simplify 0 into 0 27.249 * [backup-simplify]: Simplify 0 into 0 27.249 * [backup-simplify]: Simplify 0 into 0 27.249 * [taylor]: Taking taylor expansion of 0 in phi1 27.249 * [backup-simplify]: Simplify 0 into 0 27.249 * [backup-simplify]: Simplify 0 into 0 27.249 * [backup-simplify]: Simplify 0 into 0 27.249 * [backup-simplify]: Simplify 0 into 0 27.249 * [taylor]: Taking taylor expansion of 0 in phi1 27.249 * [backup-simplify]: Simplify 0 into 0 27.249 * [backup-simplify]: Simplify 0 into 0 27.249 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 27.249 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.249 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 27.249 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 27.249 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 27.249 * [taylor]: Taking taylor expansion of -0.5 in phi1 27.249 * [backup-simplify]: Simplify -0.5 into -0.5 27.249 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 27.249 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.250 * [taylor]: Taking taylor expansion of phi1 in phi1 27.250 * [backup-simplify]: Simplify 0 into 0 27.250 * [backup-simplify]: Simplify 1 into 1 27.250 * [backup-simplify]: Simplify (/ 1 1) into 1 27.250 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 27.250 * [taylor]: Taking taylor expansion of phi2 in phi1 27.250 * [backup-simplify]: Simplify phi2 into phi2 27.250 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 27.250 * [backup-simplify]: Simplify (+ 1 0) into 1 27.250 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 27.251 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.251 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 27.251 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 27.251 * [taylor]: Taking taylor expansion of -0.5 in phi2 27.251 * [backup-simplify]: Simplify -0.5 into -0.5 27.251 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 27.251 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 27.251 * [taylor]: Taking taylor expansion of phi1 in phi2 27.251 * [backup-simplify]: Simplify phi1 into phi1 27.251 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.251 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 27.251 * [taylor]: Taking taylor expansion of phi2 in phi2 27.251 * [backup-simplify]: Simplify 0 into 0 27.251 * [backup-simplify]: Simplify 1 into 1 27.251 * [backup-simplify]: Simplify (/ 1 1) into 1 27.252 * [backup-simplify]: Simplify (+ 0 1) into 1 27.252 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 27.252 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.252 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 27.252 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 27.252 * [taylor]: Taking taylor expansion of -0.5 in phi2 27.252 * [backup-simplify]: Simplify -0.5 into -0.5 27.252 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 27.252 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 27.252 * [taylor]: Taking taylor expansion of phi1 in phi2 27.252 * [backup-simplify]: Simplify phi1 into phi1 27.252 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 27.252 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 27.252 * [taylor]: Taking taylor expansion of phi2 in phi2 27.252 * [backup-simplify]: Simplify 0 into 0 27.252 * [backup-simplify]: Simplify 1 into 1 27.253 * [backup-simplify]: Simplify (/ 1 1) into 1 27.253 * [backup-simplify]: Simplify (+ 0 1) into 1 27.253 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 27.253 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.253 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 27.253 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 27.253 * [taylor]: Taking taylor expansion of -0.5 in phi1 27.253 * [backup-simplify]: Simplify -0.5 into -0.5 27.253 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 27.253 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 27.253 * [taylor]: Taking taylor expansion of phi1 in phi1 27.253 * [backup-simplify]: Simplify 0 into 0 27.253 * [backup-simplify]: Simplify 1 into 1 27.254 * [backup-simplify]: Simplify (/ 1 1) into 1 27.254 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 27.254 * [taylor]: Taking taylor expansion of phi2 in phi1 27.254 * [backup-simplify]: Simplify phi2 into phi2 27.254 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 27.254 * [backup-simplify]: Simplify (+ 1 0) into 1 27.254 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 27.254 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.255 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 27.255 * [taylor]: Taking taylor expansion of 0 in phi1 27.255 * [backup-simplify]: Simplify 0 into 0 27.255 * [backup-simplify]: Simplify 0 into 0 27.255 * [backup-simplify]: Simplify 0 into 0 27.255 * [taylor]: Taking taylor expansion of 0 in phi1 27.255 * [backup-simplify]: Simplify 0 into 0 27.255 * [backup-simplify]: Simplify 0 into 0 27.255 * [backup-simplify]: Simplify 0 into 0 27.255 * [backup-simplify]: Simplify 0 into 0 27.255 * [taylor]: Taking taylor expansion of 0 in phi1 27.255 * [backup-simplify]: Simplify 0 into 0 27.255 * [backup-simplify]: Simplify 0 into 0 27.255 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 27.255 * * * [progress]: simplifying candidates 27.259 * [simplify]: Simplifying: (log (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (* (cbrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))) (sqrt (cbrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 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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)))) (- lambda2 lambda1) (- (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) phi1))) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) phi1)) (- lambda2 lambda1) (- (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) phi1))) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) 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))) 27.270 * * [simplify]: Extracting # 0 : cost 0 27.271 * * [simplify]: Extracting # 1 : cost 0 27.271 * * [simplify]: Extracting # 2 : cost 0 27.271 * * [simplify]: Extracting # 3 : cost 0 27.271 * * [simplify]: Extracting # 4 : cost 0 27.271 * * [simplify]: Extracting # 5 : cost 0 27.272 * * [simplify]: Extracting # 6 : cost 0 27.272 * * [simplify]: Extracting # 7 : cost 0 27.272 * * [simplify]: Extracting # 8 : cost 0 27.273 * * [simplify]: Extracting # 9 : cost 0 27.273 * * [simplify]: Extracting # 10 : cost 0 27.273 * * [simplify]: Extracting # 11 : cost 0 27.273 * * [simplify]: Extracting # 12 : cost 0 27.274 * * [simplify]: iteration 0 : 209 enodes (cost 12096 ) 27.323 * * [simplify]: Extracting # 0 : cost 0 27.324 * * [simplify]: Extracting # 1 : cost 0 27.325 * * [simplify]: Extracting # 2 : cost 0 27.325 * * [simplify]: Extracting # 3 : cost 0 27.326 * * [simplify]: Extracting # 4 : cost 0 27.326 * * [simplify]: Extracting # 5 : cost 0 27.327 * * [simplify]: Extracting # 6 : cost 0 27.328 * * [simplify]: iteration 1 : 540 enodes (cost 11238 ) 27.594 * * [simplify]: Extracting # 0 : cost 0 27.599 * * [simplify]: Extracting # 1 : cost 0 27.606 * * [simplify]: Extracting # 2 : cost 0 27.613 * * [simplify]: Extracting # 3 : cost 0 27.619 * * [simplify]: Extracting # 4 : cost 0 27.626 * * [simplify]: iteration 2 : 2461 enodes (cost 10042 ) 28.559 * * [simplify]: Extracting # 0 : cost 0 28.565 * * [simplify]: Extracting # 1 : cost 0 28.572 * * [simplify]: Extracting # 2 : cost 0 28.580 * * [simplify]: Extracting # 3 : cost 0 28.587 * * [simplify]: Extracting # 4 : cost 0 28.595 * * [simplify]: iteration done: 5000 enodes (cost 10038 ) 28.597 * [simplify]: Simplified to: (log (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) 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lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ phi2 phi1)) (* (+ (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2))))) (sqrt (* (+ (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2))) (sqrt (+ (* (+ (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2))) (* (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 4) (* (+ (pow lambda1 2) (pow lambda2 2)) (+ (pow lambda1 2) (pow lambda2 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))) (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (sqrt (+ (* (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 4) (* (+ (pow lambda1 2) (pow lambda2 2)) (+ (pow lambda1 2) (pow lambda2 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ phi2 phi1)) (* (+ (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2))))) (sqrt (* (+ (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2))) (sqrt (+ (pow (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 3) (pow (- phi1 phi2) 6))) (sqrt (+ (* (- phi1 phi2) (- (pow (- phi1 phi2) 3) (* (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- phi1 phi2)))) (* (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) (sqrt (- (* (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (pow (- phi1 phi2) (+ 3 1)))) (sqrt (- (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) 1/2 (sqrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (* (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (+ (pow lambda1 2) (pow lambda2 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (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)))) (pow (cos (* 0.5 (+ phi2 phi1))) 3) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (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)))) (pow (cos (* 0.5 (+ phi2 phi1))) 3) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (- lambda2 lambda1) (- (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) phi1))) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) phi1)) (- lambda2 lambda1) (- (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) phi1))) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) 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))) 28.599 * * * [progress]: adding candidates to table 30.154 * [progress]: [Phase 3 of 3] Extracting. 30.154 * * [regime]: Finding splitpoints for: (# # # # # # # # # # #) 30.189 * * * [regime-changes]: Trying 5 branch expressions: (phi2 phi1 lambda2 lambda1 R) 30.189 * * * * [regimes]: Trying to branch on phi2 from (# # # # # # # # # # #) 30.309 * * * * [regimes]: Trying to branch on phi1 from (# # # # # # # # # # #) 30.426 * * * * [regimes]: Trying to branch on lambda2 from (# # # # # # # # # # #) 30.587 * * * * [regimes]: Trying to branch on lambda1 from (# # # # # # # # # # #) 30.714 * * * * [regimes]: Trying to branch on R from (# # # # # # # # # # #) 30.925 * * * [regime]: Found split indices: #